首先,新建文件夹catkin_hdl_slam,在catkin_hdl_slam文件夹中新建src文件夹即mkdir-p ~/catkin_hdl_slam/src 然后cd~/catkin_hdl_slam/src catkin_init_workspace gitclonehttps://github.com/koide3/hdl_graph_slam gitclonehttps://github.com/koide3/ndt_omp.git 安装依赖 依赖 OpenMP(安装GCC即可) [PCL ...
hdl_graph_slam_nodelet The input point cloud is first downsampled byprefiltering_nodelet, and then passed to the next nodelets. Whilescan_matching_odometry_nodeletestimates the sensor pose by iteratively applying a scan matching between consecutive frames (i.e., odometry estimation),floor_detectio...
HDL graph slam有四个主要线程,对于点云的预处理降采样prefiltering线程,floor detection线程(检测一个共有的平面作为地面),odometry线程(在测试中使用的是使用openmp加速的NDT算法),和graph optimization线程(优化包括:相邻帧的约束,回环约束,和每一帧检测到的地面约束)。 HDL – prefiltering the maximum time is :...
这个函数在文件hdl_graph_slam/src/hdl_graph_slam/registrations.cpp 从配置文件读取的registration_method这个配置项来选择相应的匹配算法,选择匹配算法以后再把这个算法对应的参数从配置文件中读取出来即可。 可选择的匹配算法一共包括:ICP、GICP、GICP_OMP、NDT、NDT_OMP,这里ICP、GICP和NDT都是经典的点云配准方法,...
hdl_graph_slamis an open source ROS package for real-time 6DOF SLAM using a 3D LIDAR. It is based on 3D Graph SLAM with NDT scan matching-based odometry estimation and loop detection. It also supports several graph constraints, such as GPS, IMU acceleration (gravity vector), IMU orientation...
rosrun hdl_graph_slam bag_player.py hdl_501_filtered.bag 保存PCD地图: rosservice call /hdl_graph_slam/save_map "resolution: 0.05 destination: '/full_path_directory/map.pcd'" 室外测试: 下载数据集 运行: rosparam set use_sim_time true roslaunch hdl_graph_slam hdl_graph_slam_400.launc...
koide3/hdl_graph_slam Star2.1k 3D LIDAR-based Graph SLAM point-cloudroslidarslamvelodynehdl-graph-slamrslidar UpdatedJul 16, 2024 C++ Interactive Map Correction for 3D Graph SLAM guipoint-cloudroslidarslamvelodynehdl-graph-slam UpdatedAug 4, 2024 ...
Hi,the following error occurs when I run "rosservice call /hdl_graph_slam/save_map "resolution: 0.05 destination: '/full_path_directory/map.pcd'"" of example 1 in my own PC. ERROR: service [/hdl_graph_slam/save_map] responded with an err...
hdl_graph_slam源码解析(六) 6. 后端优化 6.1 pose graph 6.2 hdl_graph_slam 7. 实验结果 6. 后端优化 6.1 pose graph hdl_graph_slam采用g2o来进行后端优化,也就是对优化目标函数的工作了。再解析这部分源码之前,我们首先来看下hdl_graph_slam对应的位姿图(pose graph)是什么样子的呢?首先肯定有... ...