How to implement the ground constraint by using GTSAM

PJLab-ADG / Livox-Mapping

An all-in-one and ready-to-use LiDAR-inertial odometry system for Livox LiDAR

BSD 3-Clause "New" or "Revised" License

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How to implement the ground constraint by using GTSAM #22

Closed sonphambk closed 2 years ago

sonphambk commented 2 years ago

Hi. Thank you for your great work. I saw that in the source you also use the ground constraint to align Point Cloud with gravity. I want to implement it in LIO-SAM by using GTSAM. Do you have idea or convert it to the GTSAM instead of Ceres? Thanks

SiyuanHuang95 commented 2 years ago

Hi since we did not have experience with GTSAM, no further help could be offered. And currently no such plan.

You may directly refer to the official tutorial.