Chuanhong Guo

Ubuntu 24.04 updates Ceres Solver to 2.2.0 which dropped support for LocalParameterization and suggests users to move to Manifold instead. This commit fixes slam_toolbox build on Ubuntu 24.04 **and simultaneously...

also check headings in shouldProcessScan

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This should fix #499 .

ignore measurements outside lidar range

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According to the comment in sensor_msgs/LaserScan, values < range_min or > range_max should be discarded. Without this, scan matching will fail for lidars publishing 0 for invalid measurements. --- ##...

sensor_test样例输出的yuv文件按照代码中定义的NV21格式打开，颜色错误

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如题。 样例代码在SAMPLE_COMM_VI_IniToViCfg中， https://github.com/sipeed/LicheeRV-Nano-Build/blob/main/middleware/v2/sample/common/sample_common_vi.c#L1040 一行定义的图像格式为VI_PIXEL_FORMAT，即PIXEL_FORMAT_NV21。 但是运行sensor_test样例使用dump_yuv功能，或者根据该样例简化得到如下代码： 测试代码 ```c #include #include #include static SAMPLE_VI_CONFIG_S g_stViConfig; static SAMPLE_INI_CFG_S g_stIniCfg; static int sys_vi_init(void) { MMF_VERSION_S stVersion; SAMPLE_INI_CFG_S stIniCfg; SAMPLE_VI_CONFIG_S stViConfig; PIC_SIZE_E enPicSize; SIZE_S stSize;...