bryantaoli

为什么运行这个代码的时候一卡一卡的呀，不如ORBSLAM原版的那么流畅

[Feature] Support the Microphone Array

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**Is your feature request related to a problem? Please describe.** A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] **Describe the solution you'd...

if (to_bag) { bag_out.write("/image_left", ros::Time::now(), image_left_msg); bag_out.write("/image_right", ros::Time::now(), image_right_msg); bag_out.write("/velodyne_points", ros::Time::now(), laser_cloud_msg); bag_out.write("/path_gt", ros::Time::now(), pathGT); bag_out.write("/odometry_gt", ros::Time::now(), odomGT); } 是不是应该写成： if(timestamp == 0.0) { bag_out.write("/image_left", ros::TIME_MIN, image_left_msg); bag_out.write("/image_right", ros::TIME_MIN, image_right_msg);...

秦通大神您好，在使用您A-LOAM代码的VLP-16.launch时，发现rviz界面中鼠标无法拖动界面变化，导致时间久了机器人就消失在画面外了，请问如何在.rviz文件中修改这一项

请问example/conf/navlib.conf文件里为何没有内容

9

您好，请问example/conf/navlib.conf文件里为何没有内容？我打开是这样的，和您demo视频中电conf文件不同，是我打开方式问题吗？ 

 error: ‘StorageIndex’ is not a member of ‘g2o::LinearSolverEigen::SparseMatrix {aka Eigen::SparseMatrix}’

Do you want to change this code to real-time ros? And where does the extrinsic parameters matrix of mocap and imu change in your code？

为啥在eurocV1_01_easy上运行后面就发散了？

3

为啥在eurocV1_01_easy上运行后面就发散了？ 

Error using - Matrix dimensions must agree. Error in jac_h (line 72) rad_sq=sum(((im_point-f(3:4)')./f(1:2)').^2,2); Error in main>@(x)jac_h(x,inde) Error in ekf_update1 (line 79) H = feval(H,M); Error in main (line 286) [mn,Pn]...

请问进addNewTrackedSys和updateTrackedSys的逻辑是什么，以及这两个函数的区别。

1

尊敬的作者您好，感谢开源此项目，想请教下进addNewTrackedSys函数的逻辑是什么，以及updateTrackedSys和addNewTrackedSys这两个函数的区别，谢谢！