摘要:
A-LOAM代码中,用ceres构建优化问题时,有如下代码 struct LidarEdgeFactor { LidarEdgeFactor(Eigen::Vector3d curr_point_, Eigen::Vector3d last_point_a_, Eigen::Vector3d las 阅读全文
摘要:
class CostFunctionFactory { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW CostFunctionFactory(); static boost::shared_ptr<CostFunctionFactory> instance(void 阅读全文