导入SC_LIOSAM库:在您的代码中导入SC_LIOSAM的库文件,以便可以使用其中的函数和类。 #include<sc_liosam.h> 1. 创建光学系统模型:使用SC_LIOSAM提供的函数创建光学系统模型,并设置光学元件的属性。 sc_liosam::OpticalSystemModel model;model.addLens(50.0);// 添加一个焦距为50mm的透镜model.addPrism(1.5)...
# Export settings savePCD: true # https://github.com/TixiaoShan/LIO-SAM/issues/3 savePCDDirectory: "/data/lio/" # in your home folder, starts and ends with "/". Warning: the code deletes "LOAM" folder then recreates it. See "mapOptimization" for implementation # Sensor Settings N_S...
SC-LIO-SAM 是一种实时激光雷达惯性 SLAM 封装。 LiDAR 惯性 SLAM:扫描上下文 + LIO-SAM 该存储库是一个示例用例,它是一种快速而强大的 LiDAR 位置识别方法。 有关每种算法的更多详细信息,请参阅扫描上下文 LIO-SAM 您还可以使用该项目的 LiDAR-only 版本,名为 。 扫描上下文:快速而强大的位置识别 轻量级:...
As seen in the above video, the combination of Scan Context loop detector and LIO-SAM's odometry is robust to highly dynamic and less structured environments (e.g., a wide road on a bridge with many moving objects).How to use?We provide a tutorial that runs SC-LIO-SAM on MulRan ...
Provide point ring number. LIO-SAM uses this information to organize the point correctly in a matrix. The ring number indicates which channel of the sensor that this point belongs to. The definition of the point type is located at the top of "imageProjection.cpp." The up-to-date Velodyne...
SC-LIO-SAM isa real-time lidar-inertial SLAM package. LiDAR-inertial SLAM: Scan Context + LIO-SAM This repository is an example use-case ofScan Context, which is a fast and robust LiDAR place recognition method. For more details for each algorithm please refer to ...
SC-LIO-SAM What is SC-LIO-SAM? Scan Context: A fast and robust place recognition Examples example 1: KAIST02 of MulRan dataset example 2: Riverside03 of MulRan dataset How to use? Dependency Notes About performance Minor Cite SC-LIO-SAM ...
LIO-SAMhttps://github.com/TixiaoShan/LIO-SAM You can also use the LiDAR-only version of this project, namedSC-LeGO-LOAM. Scan Context: A fast and robust place recognition Light-weight: a single header and cpp file named "Scancontext.h" and "Scancontext.cpp" ...