slam_in_autonomous_driving

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IESKF部分的公式疑惑

1

为什么在观测方程对状态向量求导并没有加旋转名义变量对旋转误差变量的雅可比 

reachel1

ch3 3.76 公式对应代码错误

1

https://github1s.com/gaoxiang12/slam_in_autonomous_driving/blob/master/src/ch3/eskf.hpp#L270-L271 这一段代码应该为： ``` double velo_l = options_.wheel_radius_ * odom.left_pulse_ * 2 * M_PI / options_.circle_pulse_ * options_.odom_span_;

ccny-ros-pkg

nowPB

ch5 读取PCD文件出现报错

2

ch5 运行 **pcd_to_bird_eye.cc** 等代码时，读取PCD文件都会出现**Failed to find match for field 'intensity'.** 有人和我一样吗。

wzh506

tbb undefined reference

2

when i make the code tbb::interface7::internal::isolate_within_arena(tbb::interface7::internal::delegate_base&, long)’undifend reference development：ubuntu 18.04 gcc 9.4 g++ 9.4 anybody can help me process this error?

chenchunhu

gdb) bt #0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50 #1 0x00007ffff7830859 in __GI_abort () at abort.c:79 #2 0x00007ffff7e7ec81 in Sophus::defaultEnsure (description=0x7ffff7ec7fc0 "Quaternion (%) should not be close to zero!", line=295, file=0x7ffff7ec7ff0 "/home/tc/learn_SLAM/slam_in_autonomous_driving-master/thirdparty/sophus/sophus/so3.hpp",...

tctctcc

/usr/include/pcl-1.10/pcl/visualization/impl/pcl_visualizer.hpp:1320: undefined reference to `pcl::visualization::PCLVisualizer::createActorFromVTKDataSet(vtkSmartPointer<vtkDataSet> const&, vtkSmartPointer<vtkLODActor>&, bool)

3

/usr/bin/ld: CMakeFiles/point_cloud_load_and_vis.dir/point_cloud_load_and_vis.cc.o: in function `bool pcl::visualization::PCLVisualizer::fromHandlersToScreen(pcl::visualization::PointCloudGeometryHandler const&, pcl::visualization::PointCloudColorHandler const&, std::__cxx11::basic_string const&, int, Eigen::Matrix const&, Eigen::Quaternion const&)': /usr/include/pcl-1.10/pcl/visualization/impl/pcl_visualizer.hpp:1320: undefined reference to `pcl::visualization::PCLVisualizer::createActorFromVTKDataSet(vtkSmartPointer const&, vtkSmartPointer&, bool)' /usr/bin/ld: CMakeFiles/point_cloud_load_and_vis.dir/point_cloud_load_and_vis.cc.o: in function `bool pcl::visualization::PCLVisualizer::addPointCloud(pcl::PointCloud::ConstPtr...

Qizai001

G2o编译问题

4

在g2o编译通过后，在thrid_patry/g2o文件中形成一个build文件，其中包含了build/g20/config.h文件。 但在整体空间中编译发现无法连接到thrid_patry/g2o/g2o/openmp_mutex.h中的 “#include "g2o/config.h"  需要在packages.cmake中添加build路径： include_directories(${PROJECT_SOURCE_DIR}/thirdparty/g2o/build/) 请问高博，这个问题是g2o库的CMakeList文件问题还是？

ye-tingfeng

Request for Korean translation

3

Dear Dr. Gao, I hope this message finds you well. I'm Hyunggi Chang, a SLAM engineer at StradVision in South Korea and leader of the [Spatial AI KR community](https://www.facebook.com/groups/spatialaikr/), which...

changh95

@gaoxiang12 高博您好，我在阅读书中第7章和CH7中的代码时，有一些不能理解的地方，感觉像是CH7 中的代码实现存在一些问题，期待您的解答 书上（P273）中描述的是分别计算历史点云和新加点云的均值和方差后再进行增量更新。但是代码中是先添加新点云到历史点云中进行合并之后再计算均值和方差。这里是否有错误，还是我理解的有问题？ CH7/ndt_inc.cc 

zhouwuxiong