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unmannedlab · Jul 7, 2022 · 56e7b6a · 56e7b6a
1 parent e0b391b
commit 56e7b6a
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Showing 13 changed files with 61 additions and 2,610,426 deletions.
diff --git a/linkalibr/CMakeLists.txt b/linkalibr/CMakeLists.txt
@@ -31,7 +31,7 @@ find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)
 #find_package(PCL REQUIRED)
 #find_package(Ceres REQUIRED)
-find_package(GTSAM REQUIRED)
+#find_package(GTSAM REQUIRED)
 
 #link_directories(${PCL_LIBRARY_DIRS})
 #add_definitions(${PCL_DEFINITIONS})
@@ -60,7 +60,7 @@ include_directories(
         ${catkin_INCLUDE_DIRS}
 #        ${PCL_INCLUDE_DIRS}
 #        ${CERES_INCLUDE_DIRS}
-        ${GTSAM_INCLUDE_DIR}
+#        ${GTSAM_INCLUDE_DIR}
 )
 
 # Set link libraries used by all binaries
@@ -69,7 +69,7 @@ list(APPEND thirdparty_libraries
         ${catkin_LIBRARIES}
         ${PCL_LIBRARIES}
         ${CERES_LIBRARIES}
-                gtsam
+        #        gtsam
         )
 
 ##################################################
@@ -93,24 +93,6 @@ target_include_directories(linkalibr_lib PUBLIC src)
 add_executable(ros_test_node src/ros_linkalibr_test.cpp)
 target_link_libraries(ros_test_node linkalibr_lib ${catkin_LIBRARIES})
 
-add_executable(ros_calib_init src/ros_calib_init.cpp)
-target_link_libraries(ros_calib_init linkalibr_lib ${catkin_LIBRARIES})
-#
-#add_executable(ros_calib_init_optimizer src/ros_calib_init_optimizer.cpp)
-#target_link_libraries(ros_calib_init_optimizer
-#        gtsam
-##        ${CERES_LIBRARIES}
-#        ${catkin_LIBRARIES})
-
-#add_executable(ros_batchoptimizer src/ros_batchoptimization.cpp
-#                                  src/batch_optimization/LoadPriorKnowledge.cpp
-#                                  src/batch_optimization/BatchOptimizer.cpp
-#                                  src/batch_optimization/PointToPlaneFactor.cpp
-#                                  src/batch_optimization/PointToPlaneFactor2.cpp
-#                                  src/batch_optimization/PointToPlaneFactor3.cpp)
-#
-#target_link_libraries(ros_batchoptimizer gtsam ${catkin_LIBRARIES})
-
 
 
 

diff --git a/linkalibr/data/I_T_L_final.txt b/linkalibr/data/I_T_L_final.txt
@@ -1,4 +1,4 @@
-   0.999996 -0.00270561 -0.00107677  0.00286181
--0.00272568   -0.999814  -0.0190945   -0.148802
--0.00102491   0.0190974   -0.999817  -0.0882944
+    0.99985   0.0114737   0.0129375           0
+  0.0113827    -0.99991  0.00707979           0
+  0.0130176 -0.00693147   -0.999891           0
           0           0           0           1
diff --git a/linkalibr/data/lin_bias_undistortedcloud.csv b/linkalibr/data/lin_bias_undistortedcloud.csv