LidarStereoRe

This is my undergraduate graduation design project : The Dense 3D Reconstruction of Lidar Stereo Joint.

依赖

ros

pangolin

Eigen

Opencv

yaml-cpp

1.StereoFeature

roslaunch LidarStereoRe StereoFeature.launch

输入
- rosbag - 双目图像
- yaml - 标定参数
- pose - 激光里程计获得的pose
输出
- 可视化结果
  
  红色曲线：相机轨迹
  
  黑色曲线：激光轨迹
  
  蓝色地图点和红色地图点的区别：红色地图点表示被观测次数更多
- 地图点以及观点帧参数输出,提供给优化进一步处理
  - GoodMapPoints.txt
  - GoodFrames.txt
  - kFrames.txt
  - LidarNearFrame.txt
  - MapPoints.txt

2.Optimizer