fast-livo-cc_comments's Introduction

FAST-LIVO-CC_Comments

Introduction

本仓库是 FAST-LIVO 的详细中文注释。

Done

整体流程看完
LiDAR 和 Image 数据时间戳同步看完，并发现一些问题
VIO 系统看完，包括视觉子地图的选择，当前帧 patch 和地图点 patch 的关联，直接光度对齐的 EsIKF 优化
LIO 部分添加了数据时间同步的注释，但是没有添加算法部分注释，这部分注释可见 r2live-CC_Comments 中的 LIO 部分
关于 LIO 部分的 EsIKF 公式推导，可见我的系列博客：Kalman Filter in SLAM 系列文章

TODO

点云去畸变部分写的很乱，而且发现一些去畸变的时候对时间的处理问题，待查
~~整理 EsIKF 公式推导成电子版并发布~~ See Done

Note

本仓库的环境链接库

Acknowledgements

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