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HViktorTsoi / FAST_LIO_LOCALIZATION

A simple localization framework that can re-localize in built maps based on FAST-LIO.

GNU General Public License v2.0

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Open ToutDonner opened 2 years ago

ToutDonner commented 2 years ago

在icp环节中得出的T_map_to_odom是不是指里程计坐标系相对global_map的变换矩阵，在里程计信息左乘变换矩阵之后转换到global_map坐标系下