imageProjection.cpp关于制作RangeMat过程代码逻辑处理

[SharkPeppero]

/**
 * @brief 
 * 3、执行点云去畸变
 *  1. 检查激光点距离、扫描线是否合规
 *  2. 单点去畸变
 *  3. 保存激光点 
*/
void projectPointCloud()
{
    int cloudSize = laserCloudIn->points.size();

    // range image projection
    for (int i = 0; i < cloudSize; ++i)
    {
        PointType thisPoint;
        thisPoint.x = laserCloudIn->points[i].x;
        thisPoint.y = laserCloudIn->points[i].y;
        thisPoint.z = laserCloudIn->points[i].z;
        thisPoint.intensity = laserCloudIn->points[i].intensity;

        // range从点云的x、y、z算出来，而没有使用topic信息中的range
        // range映射成2D矩阵时
        // 行索引rowInd等于该点的ring
        // 列索引根据角度和分辨率计算得到
        float range = pointDistance(thisPoint);
        if (range < lidarMinRange || range > lidarMaxRange)
            continue;

        int rowIdn = laserCloudIn->points[i].ring;
        if (rowIdn < 0 || rowIdn >= N_SCAN)
            continue;
        // 可以执行线束级别降采样
        if (rowIdn % downsampleRate != 0)
            continue;

        // 计算该点对应的列索引

/**

        ID参考图： rangeMat参考的图片
                        ^ y
                        |
                        |
        id = 360        |
        ---------------------------------> x id = 180
        id = 0          |
                        |
                        |
                        |

*/

        float horizonAngle = atan2(thisPoint.x, thisPoint.y) * 180 / M_PI;
        static float ang_res_x = 360.0/float(Horizon_SCAN);
        int columnIdn = -round((horizonAngle-90.0)/ang_res_x) + Horizon_SCAN/2;
        if (columnIdn >= Horizon_SCAN)
            columnIdn -= Horizon_SCAN;

        if (columnIdn < 0 || columnIdn >= Horizon_SCAN)
            continue;

        // 将该点的range记录到rangeMat
        //  用来后续进行特征提取
        if (rangeMat.at<float>(rowIdn, columnIdn) != FLT_MAX)
            continue;
        rangeMat.at<float>(rowIdn, columnIdn) = range;

        // 单点进行去畸变
        thisPoint = deskewPoint(&thisPoint, laserCloudIn->points[i].time);

        // 将去完畸变的点云存储在中间变量 会进行顺序存储
        int index = columnIdn + rowIdn * Horizon_SCAN;
        fullCloud->points[index] = thisPoint;
    }
}



作者我在学习您代码过程中发现：
在计算完雷达点的行列索引后，先将range直接给了rangeMat，这里还有当前帧去畸变的逻辑。
是不是应该先去完畸变在将结果给rangeMat。