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)...
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:...
# 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...
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" ...
Provide point time stamp. LIO-SAM uses IMU data to perform point cloud deskew. Thus, the relative point time in a scan needs to be known. The up-to-date Velodyne ROS driver should output this information directly. Here, we assume the point time channel is called "time." The definition ...
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" ...
LIO-SAMhttps://github.com/TixiaoShan/LIO-SAM You can also use the LiDAR-only versions of this project:SC-LeGO-LOAMandSC-A-LOAM. Scan Context: A fast and robust place recognition Light-weight: a single header and cpp file named "Scancontext.h" and "Scancontext.cpp" ...
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 ...