LOAM_NOTED

LOAM_NOTED copied to clipboard

LaserMapping.cpp中 laserCloudCornerArray和laserCloudSurfArray感觉没有赋值进来，就直接使用了。 这两个指针，456行初始化了下 laserCloudCornerArray[i].reset(new pcl::PointCloud()); laserCloudSurfArray[i].reset(new pcl::PointCloud()); 期间没有数据点加入，然后就直接在524行使用其进行赋值给其他点云指针。这里是不是缺少了把corn点云存到laserCloudCornerArray这种操作？而且我看有的版本代码中根本没有这个laserCloudCornerArray和laserCloudSurfArray。 pcl::PointCloud::Ptr laserCloudCubeCornerPointer = laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];//that's [i + 21 * j + 231 *...

jhx646018057

IMU坐标系疑问

2

LLplane

代码中没有用Levenberg-Marquardt算法(L-M method)，用的是高斯牛顿法，虽然paper中说用的LM

cgbcgb

laserOdometry.cpp中雅克比矩阵推导

4

你好，最近在看loam的源代码，卡在雅克比矩阵计算这块，想请问一下推导思路是怎样的，非常感谢

TBetterman

English version of your notes

2

Hello, Do you have an English version of your notes? Thanks.

claydergc

laserOdometry.cpp中 arx ary等推到公式

2

您好，对于arx、ary、arz的推导公式有些不理解，根据代码想不出求解公式，希望能获得您的帮助

strongming

//利用IMU修正旋转量，根据起始欧拉角，当前点云的欧拉角修正#247 void PluginIMURotation()#248

chennuo0125-HIT

Hi author, Thanks for your work! I am wonder how the coordinate transformation in point cloud distortion correction process. Did it firstly convert current point into the IMU coordinate(or world...

goldenminerlmg

yoonaya5

Hi , how can i solve this error: RROR: cannot launch node of type [loam_velodyne/scanRegistration]: Cannot locate node of type [scanRegistration] in package [loam_velodyne]. Make sure file exists in package...

BamsaAhmed