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#include "utility.h" | ||
#include "lio_sam/cloud_info.h" | ||
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//Zeng Shengyao: [email protected] | ||
//本代码为LIO-SAM适配Mid360版本,支持六轴和九轴IMU | ||
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struct smoothness_t{ | ||
float value; | ||
size_t ind; | ||
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#include "lio_sam/cloud_info.h" | ||
#include "livox_ros_driver/CustomMsg.h" | ||
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//Zeng Shengyao: [email protected] | ||
//本代码为LIO-SAM适配Mid360版本,支持六轴和九轴IMU | ||
struct VelodynePointXYZIRT | ||
{ | ||
PCL_ADD_POINT4D | ||
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#include <gtsam/nonlinear/ISAM2.h> | ||
#include <gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h> | ||
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//Zeng Shengyao: [email protected] | ||
//本代码为LIO-SAM适配Mid360版本,支持六轴和九轴IMU | ||
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using gtsam::symbol_shorthand::X; // Pose3 (x,y,z,r,p,y) | ||
using gtsam::symbol_shorthand::V; // Vel (xdot,ydot,zdot) | ||
using gtsam::symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz) | ||
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@@ -17,6 +17,9 @@ | |
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#include <gtsam/nonlinear/ISAM2.h> | ||
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//Zeng Shengyao: [email protected] | ||
//本代码为LIO-SAM适配Mid360版本,支持六轴和九轴IMU | ||
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using namespace gtsam; | ||
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using symbol_shorthand::X; // Pose3 (x,y,z,r,p,y) | ||
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