关于特征提取 - Githubissues

YJZLuckyBoy / liorf_localization

A simple location system based on a priori map, which is based on the lio-sam framework

MIT License

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关于特征提取 #3

Open LiquoriceH opened 1 year ago

LiquoriceH commented 1 year ago

作者你好，我看到mapOptimization中订阅的是imageProjection中发布的cloud_deskewed点云，但是您maoOptimization中使用lasercloudSurflast变量接收，而且scan2map的优化函数中仅进行surf点优化。我想问的是cloud_deskewed中不应该corner和surf都有吗，我在源码中并没有看到您进行特征提取

YJZLuckyBoy commented 1 year ago

是的，liorf_localization是基于liorf修改的基于已知地图定位算法，移除了特征提取模块，详细的修改可以看一下liorf.