TUM dataset building dynamic dense point clouds
Catalog PCL libraries are needed to build point clouds Implementing Difficulties 1.How Dense Reconstruction works 2.How to align rgb, depth and position maps 3.What is the camera's internal reference 4.How to display real-time pictures and point clouds Total Code The purpose of this article is UTF-8...
Posted by minc on Sat, 25 Sep 2021 21:31:03 +0530
Ros-3dslamlvi Sam source code reading 2
2021SC@SDUSC (4) LVI Sam source code reading 2 lidar_odometry imuPreintegration.cpp This analysis mainly analyzes the imuHandler function. imuHandler callback function of imu According to the last odom and deviation, gtsam is used to estimate the current odom as the pose of imu. The pose of radUTF-8...
Posted by flforlife on Sun, 17 Oct 2021 10:38:28 +0530
SLAM -- ORB-SLAM3 code analysis MapPoint
2021SC@SDUSC MapPoint analysis (3) Analysis of MapPoint.hAnalysis of MapPoint.cc (I) The last blog has analyzed MapPoint.h and has a general understanding of MapPoint's work. Now start the analysis of MapPoint.cc. The more detailed analysis in MapPoint.h will be briefly introduced here. RemembeUTF-8...
Posted by sherrilljjj on Wed, 20 Oct 2021 22:44:53 +0530
SLAM learning - Rectangular translation using homogeneous coordinates
task After understanding the advantages of homogeneous coordinates in three-dimensional space and their application in computer graphics, practice: The keyboard is used to read the direction input and control the translation of the rectangle. The coordinates of the rectangle are expressed in tUTF-8...
Posted by sageman on Sat, 28 May 2022 09:12:42 +0530
Logo-beam source code analysis - imageproject CPP
LeGo-LOAM A lightweight and ground optimized lidar odometry and mapping (LeGO-LOAM) system for ROS compatible UGVs. The system takes in point cloud from a Velodyne VLP-16 Lidar (placed horizontal) and optional IMU data as inputs. It outputs 6D pose estimation in real-time. A brief introduction UTF-8...
Posted by deko on Tue, 31 May 2022 05:46:42 +0530
lego-loam study notes
Foreword: Learn the source code of the ground point extraction part in lego-loam. Ground point extraction function groundRemoval() in src/imageProjection.cpp. The content is relatively small and easy to understand. size_t lowerInd, upperInd; float diffX, diffY, diffZ, angle; lowerInd indicates UTF-8...
Posted by rtsanderson on Sun, 29 Jan 2023 11:28:08 +0530