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Re: icp_odometry with LOAM crash

Posted by matlabbe on Sep 30, 2021; 2:06pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8619.html

Hi Heiko,

There was indeed a bug, I wrongly copied stuff from OdometryLOAM, the local transform was applied before FLOAM processing as it should be only after. This is fixed in this commit. The result should now be the same than using velodyne frame directly.

Note also that you may have to tune the hard-coded angle here for the ouster 64 in case the field of view is different than HDL-64E.

cheers,
Mathieu