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gisbi-kim / FAST_LIO_SLAM

LiDAR SLAM = FAST-LIO + Scan Context
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About GPS #9

Closed LeisureLei closed 3 years ago

LeisureLei commented 3 years ago

I noticed that the GPS was subscribed in file laserPosegraphOptimization.cpp. But I did't find out who advertise GPS messages. I also noticed that GPS was used in videos of examples. So where are GPS messages published?

gisbi-kim commented 3 years ago

@LeisureLei the GPS factors was implemented to demonstrate the system's stable z-height adjustment for MulRan dataset (this dataset has gps)

for more the gps functionality, please see here https://github.com/gisbi-kim/SC-A-LOAM#riverside-01-mulran-dataset

LeisureLei commented 3 years ago

@LeisureLei the GPS factors was implemented to demonstrate the system's stable z-height adjustment for MulRan dataset (this dataset has gps)

for more the gps functionality, please see here https://github.com/gisbi-kim/SC-A-LOAM#riverside-01-mulran-dataset

Got it! You just use gps altitude differences. I thought you also used both latitude and longitude.