Tang Chunhua

icon company SUZHOU VOCATIONAL INSTITUTE OF INDUSTRIAL TECHNOLOGY icon location CHINA icon location A teacher at SUZHOU VOCATIONAL INSTITUTE OF INDUSTRIAL TECHNOLOGY. I specialize in teaching computer science and enjoy sharing my knowledge

Results 2 issues of Tang Chunhua

About timestamp synchronization

3 comment

In ros_calib_init.cpp, /// Handle Lidar measurement sensor_msgs::PointCloud2::ConstPtr s_lidar = m.instantiate(); if (s_lidar != nullptr && m.getTopic() == topic_lidar) { lin_core::VPointCloud::Ptr cloud_pcl(new lin_core::VPointCloud); pcl::fromROSMsg(*s_lidar, *cloud_pcl); LOdom->feedScan((*s_lidar).header.stamp.toSec(), cloud_pcl); LOdom->append_and_update(true); Eigen::Matrix3d deltaR_L =...

Quaternion in Hamilton or JPL ?

Hi @gogojjh thanks for your great work! I'm confused about the code in math.hpp. Function **[LeftQuatMatrix](https://github.com/gogojjh/M-LOAM/blob/a7f80393b7e15179e758e32f86def99817b3e011/mloam_common/libs/include/common/algos/math.hpp#L103)** looks like the quaternion in JPL. However, as far as I know, Eigen uses...