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Added LOAM (loam_velodyne) odometry support

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matlabbe
2018-06-28 11:10:46 -04:00
parent 10b452197d
commit d447329bf1
11 changed files with 621 additions and 7 deletions
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2
tools/KittiDataset/main.cpp
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@@ -395,7 +395,7 @@ int main(int argc, char * argv[])
Parameters::parse(parameters, Parameters::kRtabmapCreateIntermediateNodes(), intermediateNodes);
// assuming source is 10 Hz
int mapUpdate = 10 / detectionRate;
int mapUpdate = detectionRate>0?10 / detectionRate:1;
if(mapUpdate < 1)
{
mapUpdate = 1;