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Published 20 hours ago • verified publisher icon chengwei0427
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Lidar-IMU Localization System with Prior Map Constraint and Lio Constraint

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WINDOWSIZE，SLIDEWINDOWSIZE意义

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如果我不用local map,初始化WINDOWSIZE = 1； //if IMU success initialized WINDOWSIZE = SLIDEWINDOWSIZE; // SLIDEWINDOWSIZE =2 问题： 1）这里注释表示如果IMu初始化成功，全局变量又变成了2，怎里理解这个SLIDEWINDOWSIZE，为什么要存两帧激光雷达，是前后帧吗？和WINDOWSIZE有什么关系和联系？ 2）松耦合（IMU_Mode

iglstone avatar iglstone

void Eigen::JacobiSVD<MatrixType, QRPreconditioner>::allocate(Eigen::Index, Eigen::Index, unsigned int) [with _MatrixType = Eigen::Matrix<double, 3, 3>; int QRPreconditioner = 2; Eigen::Index = long int]: Assertion `(!(m_computeThinU || m_computeThinV) || (MatrixType::ColsAtCompileTime==Dynamic)) && "JacobiSVD: thin U and V are only available when your matrix has a dynamic number of columns."' failed.

使用SVD求解的时候会有问题： ![image](https://github.com/chengwei0427/Lidar_IMU_Localization/assets/56281050/41914d53-e838-4c18-a6c1-dbcb845d1ea9)

MasterY0416 avatar MasterY0416

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Lidar-IMU Localization System with Prior Map Constraint and Lio Constraint

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