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@@ -241,13 +241,6 @@ Eigen::Matrix4f Laser_Odom::matching(const ros::Time& stamp, const pcl::PointClo
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Eigen::Matrix4f trans = registration->getFinalTransformation(); // 获得当前点云和上一帧点云 关键帧 的仿射变换
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odom = keyframe_pose * trans; // 算出来 odom
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- // if(std::abs(matrix(0, 3) - odom(0, 3) > 0.5) || std::abs(matrix(1, 3) - odom(1, 3) > 0.5)){
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- // if(matrix(0, 3) != 0 || matrix(1, 3) !=0){
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- // odom = matrix;
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- // }
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-
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- // }
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-
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prev_time = stamp; // 当前帧的时间戳
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prev_trans = trans; // 当前帧的仿射变换
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Mj23366