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(02)Cartographer源码无死角解析-(00)目录_最新无死角讲解

讲解关于slam一系列文章汇总链接:史上最全slam从零开始,针对于本栏目讲解的(02)Cartographer源码无死角解析链接如下(有兴趣的朋友可关注计算机视觉life 进行学习):
(02)Cartographer源码无死角解析-(00)目录_最新无死角讲解:https://mp.csdn.net/mp_blog/creation/success/127350885

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本专栏适合自动驾驶、服务/仓储/扫地机器人等领域的工程师、在读学生、教师等。史上最新最全Cartographer讲解,不漏任何一个细节推理,无死角的公式推导与源码解析,并讲解算法落地的工程实践技巧,代码改进方向等,快速上手做项目

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Cartographer 对应的一系列章节,如下所示:

(00)(02)Cartographer源码无死角解析-(00)目录_最新无死角讲解:https://mp.csdn.net/mp_blog/creation/success/127350885

(01)(02)Cartographer源码无死角解析-(01) 环境搭建,demo运行,ROS一键安装_清除各种疑难杂症:https://blog.csdn.net/weixin_43013761/article/details/127354399

(02)(02)Cartographer源码无死角解析-(02) ROS基础讲解→记录编译过程及常用指令:ttps://blog.csdn.net/weixin_43013761/article/details/127439506

(03)(02)Cartographer源码无死角解析-(03) 新数据运行与地图保存、加载地图启动仅定位模式:https://blog.csdn.net/weixin_43013761/article/details/127460705

(04)(02)Cartographer源码无死角解析-(04) 熟悉bag文件,配置.launch与.lua文件,初步调参:https://blog.csdn.net/weixin_43013761/article/details/127473228

(05)(02)Cartographer源码无死角解析-(05) 程序运行常见错误与解决→模拟错误:https://blog.csdn.net/weixin_43013761/article/details/127491604

(06)(02)Cartographer源码无死角解析-(06) 参数详解与备注→调参查阅使用:https://blog.csdn.net/weixin_43013761/article/details/127500893

    待写…

(09)(02)Cartographer源码无死角解析-(09) gflags与glog简介、及其main函数讲解:https://blog.csdn.net/weixin_43013761/article/details/127567012

(10)(02)Cartographer源码无死角解析-(10) 配置文件加载1→主体框架分析LoadOptions():https://blog.csdn.net/weixin_43013761/article/details/127602558

(11)(02)Cartographer源码无死角解析-(11) 配置文件加载2→LuaParameterDictionary使用:https://blog.csdn.net/weixin_43013761/article/details/127615050

(12)(02)Cartographer源码无死角解析-(12) Node类初探→构造函数与开始轨迹:https://blog.csdn.net/weixin_43013761/article/details/127627749

(13)(02)Cartographer源码无死角解析-(13) Node::AddTrajectory()→位姿估算器与采样器:https://blog.csdn.net/weixin_43013761/article/details/127638039

(14)(02)Cartographer源码无死角解析-(14) Node::AddTrajectory()→订阅话题与注册回调函数:https://blog.csdn.net/weixin_43013761/article/details/127655696

(15)(02)Cartographer源码无死角解析-(15) Node::AddTrajectory()→回调函数之数据流向分析:https://blog.csdn.net/weixin_43013761/article/details/127686479

(16)(02)Cartographer源码无死角解析-(16) SensorBridge→Rigid3(刚体变换):https://blog.csdn.net/weixin_43013761/article/details/127695776

(17)(02)Cartographer源码无死角解析-(17) SensorBridge→里程计数据处理与TfBridge分::https://blog.csdn.net/weixin_43013761/article/details/127764090

(18)(02)Cartographer源码无死角解析-(18) SensorBridge→landmark与Imu的数据处理:https://blog.csdn.net/weixin_43013761/article/details/127793195

(19)(02)Cartographer源码无死角解析-(19) SensorBridge→雷达点云数据帧处理与坐标系变换(涉及函数重载:https://blog.csdn.net/weixin_43013761/article/details/127841694)

(20)(02)Cartographer源码无死角解析-(20) MapBuilder→MapBuilder()构造函数:https://blog.csdn.net/weixin_43013761/article/details/127866586

(21)(02)Cartographer源码无死角解析-(21) MapBuilder→AddTrajectoryBuilder():https://blog.csdn.net/weixin_43013761/article/details/127881494

(22)(02)Cartographer源码无死角解析-(22) 传感器数据分发→CollatedTrajectoryBuilder:https://blog.csdn.net/weixin_43013761/article/details/127898355

(23)(02)Cartographer源码无死角解析-(23) 传感器数据类型自动推断与数据利用率计算:https://blog.csdn.net/weixin_43013761/article/details/127928139

(24)(02)Cartographer源码无死角解析-(24) Collator类与数据队列OrderedMultiQueue简介:https://blog.csdn.net/weixin_43013761/article/details/127934503

(25)(02)Cartographer源码无死角解析-(25) 阻塞队列BlockingQueue,与OrderedMultiQueue成员函数:https://blog.csdn.net/weixin_43013761/article/details/127948693

(26)(02)Cartographer源码无死角解析-(26) OrderedMultiQueue::Dispatch()→数据排序分发:https://blog.csdn.net/weixin_43013761/article/details/127956898

(27)(02)Cartographer源码无死角解析-(27) 数据订阅、变换、排序、转发→总体复盘:https://blog.csdn.net/weixin_43013761/article/details/127963573

(29)(02)Cartographer源码无死角解析-(29) LocalTrajectoryBuilder2D::AddRangeData()→多雷达数据时间同步:https://blog.csdn.net/weixin_43013761/article/details/128000895

(30)(02)Cartographer源码无死角解析-(30) LocalTrajectoryBuilder2D::AddRangeData()→激光雷达运动畸变较正:https://blog.csdn.net/weixin_43013761/article/details/128017842

(31)(02)Cartographer源码无死角解析-(31) LocalTrajectoryBuilder2D::AddRangeData()→点云数据重力对齐,Z轴过滤:https://blog.csdn.net/weixin_43013761/article/details/128094782

(32)(02)Cartographer源码无死角解析-(32) LocalTrajectoryBuilder2D::AddRangeData()→点云的体素滤波:https://blog.csdn.net/weixin_43013761/article/details/128119518

(33)(02)Cartographer源码无死角解析-(33) LocalTrajectoryBuilder2D: 点云数据流向、处理、消息发布等→流程复盘:https://blog.csdn.net/weixin_43013761/article/details/128185173

(34)(02)Cartographer源码无死角解析-(34) LocalTrajectoryBuilder3D→3D点云数据处理,大致流程梳理:https://blog.csdn.net/weixin_43013761/article/details/128225575

(35)(02)Cartographer源码无死角解析-(35) PoseExtrapolator→接口解剖,学会框架分析与架构设计:https://blog.csdn.net/weixin_43013761/article/details/128247107

(36)(02)Cartographer源码无死角解析-(36) PoseExtrapolator→AddImuData()、AddOdometryData():https://blog.csdn.net/weixin_43013761/article/details/128262616

(37)(02)Cartographer源码无死角解析-(37) PoseExtrapolator→AddPose()、旋转向量(求导)变换成角速度:https://blog.csdn.net/weixin_43013761/article/details/128276382

(38)(02)Cartographer源码无死角解析-(38) PoseExtrapolator→AdvanceImuTracker()、ImuTracker姿态推断:https://blog.csdn.net/weixin_43013761/article/details/128330537

(39)(02)Cartographer源码无死角解析-(39) PoseExtrapolator→ExtrapolatePose()、ExtrapolatePosesWithGravity() 等成员函数:https://blog.csdn.net/weixin_43013761/article/details/128362436

(40)(02)Cartographer源码无死角解析-(40) PoseExtrapolator→整体框架复盘,作用与目的讲解:https://blog.csdn.net/weixin_43013761/article/details/128374405

(41)(02)Cartographer源码无死角解析-(41) 2D栅格地图→ActiveSubmaps2D:https://blog.csdn.net/weixin_43013761/article/details/128434845

(42)(02)Cartographer源码无死角解析-(42) 2D栅格地图→Submap、Submap2D、MapLimits:https://blog.csdn.net/weixin_43013761/article/details/128467793

(43)(02)Cartographer源码无死角解析-(43) 2D栅格地图→ValueConversionTables、Grid2D :https://blog.csdn.net/weixin_43013761/article/details/128512390

(44)(02)Cartographer源码无死角解析-(44) 2D栅格地图→ProbabilityGrid 与 ProbabilityToLogOddsInteger():https://blog.csdn.net/weixin_43013761/article/details/128522404

(45)(02)Cartographer源码无死角解析-(45) 2D栅格地图→ProbabilityGridRangeDataInserter2D:https://blog.csdn.net/weixin_43013761/article/details/128536113

(46)(02)Cartographer源码无死角解析-(46) 2D栅格地图→RayToPixelMask()与贝汉明(Bresenham)算法:https://blog.csdn.net/weixin_43013761/article/details/128558310

(47)(02)Cartographer源码无死角解析-(47) 2D栅格地图→总体流程梳理与总结,及核心关键CastRays()讲解:https://blog.csdn.net/weixin_43013761/article/details/128589927

(48)(02)Cartographer源码无死角解析-(48) 2D点云扫描匹配→扫描匹配基本原理讲解,代码总体框架梳理AddAccumulatedRangeData():https://blog.csdn.net/weixin_43013761/article/details/128632005

(49)(02)Cartographer源码无死角解析-(49) 2D点云扫描匹配→相关性暴力匹配1:SearchParameters:https://blog.csdn.net/weixin_43013761/article/details/128646738

(50)(02)Cartographer源码无死角解析-(50) 2D点云扫描匹配→相关性暴力匹配2:RealTimeCorrelativeScanMatcher2D:https://blog.csdn.net/weixin_43013761/article/details/128661125

(51)(02)Cartographer源码无死角解析-(51) 2D点云扫描匹配→ceres扫描匹配:CeresScanMatcher2D→平移旋转残差:https://blog.csdn.net/weixin_43013761/article/details/128678645

(52)(02)Cartographer源码无死角解析-(52) 2D点云扫描匹配→ceres扫描匹配:CeresScanMatcher2D→栅格地图残差:https://blog.csdn.net/weixin_43013761/article/details/128797110


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