Question about rotational constraints?

hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

https://sites.google.com/view/lio-mapping

GNU General Public License v3.0

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Question about rotational constraints? #43

Open johnsongash opened 4 years ago

johnsongash commented 4 years ago

Thanks for the code from your guys.

After read through the paper i'm wondering if "Refinement With Rotational Constraints" implement in your code? If yes, where can i find the part of it?

Thanks again.

hyye commented 4 years ago

It is mainly implemented in src/map_builder/MapBuilder.cc.