intmain(intargc,char**argv){/***0、预处理***/ros::init(argc,argv,"laserOdometry");ros::NodeHandlenh;// 1.订阅节点,发布消息// 订阅scanRegistration发布的六个节点,调用六个回调函数ros::SubscribersubCornerPointsSharp=nh.subscribe<sensor_msgs::PointCloud2>("/laser_cloud_sharp",2,laserCloudSha...
intmain(intargc,char**argv){ros::init(argc,argv,"laserOdometry");ros::NodeHandlenh;/** 设定里程计的帧率(每跳过skipFrameNum帧采样1帧)*/nh.param<int>("mapping_skip_frame",skipFrameNum,2);printf("Mapping %d Hz\n",10/skipFrameNum);// 从scanRegistration订阅的消息话题// 极大边线点次极大边...
(1) Similar to LOAM, we use a threshold cth to distinguish different types of features. We call the points with c larger than cthedgefeatures, and the points with c smaller than cthplanarfeatures. (2)Then nFe edge feature points with the maximum c, which do not belong to the ground, ...