slam
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ORB_SLAM2学习
orbslam2原创 2022-07-14 19:41:53 · 312 阅读 · 0 评论 -
ubantu1804 两个opencv版本共存
ubantu18.04多个opencv版本共存。原创 2022-06-02 13:50:33 · 360 阅读 · 1 评论 -
GTSAM学习(二)pnp
根据3D点以及相对应的2D像素点,利用GASAM求解最优相机位姿;#include <gtsam/inference/Symbol.h>#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>#include <gtsam/geometry/SimpleCamera.h>#include <boost/make_shared.hpp> using namespace gtsam;us原创 2022-03-08 22:16:28 · 378 阅读 · 0 评论 -
GTSAM 学习(一)
GTSAM(Georgia Tech Smoothing and Mapping)是基于因子图的C++库,它可以解决slam和sfm的问题,当然它也可以解决简单或者更加复杂的估计问题。主要由以下三个基本组成部分:因子图(factor graph):它属于一个二分图,由因子和变量连接而成。变量(variables):估计问题中的未知随机变量。因子(factors):非线性因子表示变量之间的约束,在slam中,可能为landmark或者odometry的读数。第一个简单的例子是单个因子、原创 2022-03-08 22:04:18 · 1775 阅读 · 0 评论 -
A-LOAM学习笔记(四)
// This is an advanced implementation of the algorithm described in the following paper:// J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time.// Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014. // Modifi.原创 2022-03-07 09:47:27 · 493 阅读 · 0 评论 -
A-LOAM学习笔记(三)
// This is an advanced implementation of the algorithm described in the following paper:// J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time.// Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014. // Modifi.原创 2022-03-07 09:46:25 · 472 阅读 · 0 评论 -
A-LOAM 学习笔记(二)
// Author: Tong Qin qintonguav@gmail.com// Shaozu Cao saozu.cao@connect.ust.hk#include <ceres/ceres.h>#include <ceres/rotation.h>#include <eigen3/Eigen/Dense>#include <pcl/point_cloud.h>#inclu.原创 2022-03-07 09:44:43 · 374 阅读 · 0 评论 -
A-LOAM 学习笔记(一)
A-LOAM共有四部分kittiHelper.cpp: Kitti数据集读取;lidarRactoe.hpp: 激光雷达角点和面点提取,ceres实现最小最小化角点到线、面点到面的距离;laserOdometry.cpp: 计算相邻两帧间的位姿;laserMapping.cpp : 计算当前帧到地图的位姿并建图;// Author: Tong Qin qintonguav@gmail.com// Shaozu Cao .原创 2022-03-07 09:42:47 · 435 阅读 · 0 评论 -
livox_loam运行
第一次运行livox—Loam笔记源码地址https://github.com/hku-mars/loam_livox环境为:ubantu18.04 , ROS Melodic ,PCL ceresbuild Loam: cd ~/catkin_ws/src git clone https://github.com/hku-mars/loam_livox.git cd ../ catkin_make source ~/catkin_ws/...原创 2022-02-18 14:43:12 · 694 阅读 · 0 评论 -
A-Loam运行
第一次运行A—Loam笔记ALoam源码地址:GitHub - HKUST-Aerial-Robotics/A-LOAM: Advanced implementation of LOAM环境为:ubantu18.04 , ROS Melodic ,PCL ceresbuild A-Loam: cd ~/catkin_ws/src git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git cd .....原创 2022-02-18 13:52:05 · 799 阅读 · 2 评论