lego-loam featureAssociation 源码注释（五）补充

Student JoeyLee

已于 2024-10-29 21:26:27 修改

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分类专栏： lego-loam 文章标签：算法人工智能 slam ros

于 2024-10-29 20:02:17 首次发布

本文链接：https://blog.youkuaiyun.com/Joeybee/article/details/143315575

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继续来看位姿优化：

void updateTransformation(){

        if (laserCloudCornerLastNum < 10 || laserCloudSurfLastNum < 100)
            return;

        for (int iterCount1 = 0; iterCount1 < 25; iterCount1++) {
            laserCloudOri->clear();
            coeffSel->clear();

            findCorrespondingSurfFeatures(iterCount1);

            if (laserCloudOri->points.size() < 10)
                continue;
            if (calculateTransformationSurf(iterCount1) == false)
                break;
        }

        for (int iterCount2 = 0; iterCount2 < 25; iterCount2++) {

            laserCloudOri->clear();
            coeffSel->clear();

            findCorrespondingCornerFeatures(iterCount2);

            if (laserCloudOri->points.size() < 10)
                continue;
            if (calculateTransformationCorner(iterCount2) == false)
                break;
        }
    }