LIO-SLAM
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error: static assertion failed: Error: GTSAM was built against a different version of Eigen
问题:error: static assertion failed: Error: GTSAM was built against a different version of EigenIn file included from /usr/local/include/gtsam/base/Matrix.h:28:0, from /usr/local/include/gtsam/base/Manifold.h:22, from /usr原创 2021-02-02 10:13:43 · 3978 阅读 · 11 评论 -
LIO-SLAM 代码详细注释三imuPreintegration.cpp
imuPreintegration.cpp#include "utility.h"#include <Eigen/Core>#include <gtsam/geometry/Rot3.h>#include <gtsam/geometry/Pose3.h>#include <gtsam/slam/PriorFactor.h>#include <gtsam/slam/BetweenFactor.h>#include <gtsam/n原创 2021-02-16 11:10:12 · 581 阅读 · 0 评论 -
LIO-SLAM 代码详细注释一 imageProjection.cpp
imageProjection.cpp#include "utility.h"#include "lio_sam/cloud_info.h"struct VelodynePointXYZIRT{ PCL_ADD_POINT4D PCL_ADD_INTENSITY; uint16_t ring; float time; EIGEN_MAKE_ALIGNED_OPERATOR_NEW} EIGEN_ALIGN16;POINT_CLOUD_REGISTER_P原创 2021-02-08 09:57:26 · 854 阅读 · 0 评论 -
LIO-SLAM 代码详细注释二featureExtraction.cpp
featureExtraction.cpp#include "utility.h"#include "lio_sam/cloud_info.h"struct smoothness_t{ float value; //曲率 size_t ind; //序号};struct by_value{ //曲率值对比 bool operator()(smoothness_t const &left, smoothness_t const &right) {原创 2021-02-08 10:02:45 · 360 阅读 · 2 评论