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Questions about BasicLaserOdometry #163
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Hi @sterngerlach ,I have the same question ,did you know the reason ? Thank you very much |
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Dear All,
I have a question about the implementation of BasicLaserOdometry.
My understanding is that
_transform
represents the relative transformation between the current point cloud and the previous point cloud (both are projected to the start of the current sweep), and it needs to be initialized to zero before performing Gauss-Newton optimization.But it seems that
_transform
is not initialized to zero inBasicLaserOdometry::process()
, and instead its position is subtracted by_imuVeloFromStart * _scanPeriod
. I would like to know the reason for this. Thank you!The text was updated successfully, but these errors were encountered: