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fast_lio2 released!

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xw
2021-07-04 10:17:41 -04:00
parent 6e1fa94351
commit 1087a72497
44 changed files with 7155 additions and 2973 deletions
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10
include/so3_math.h
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@@ -3,11 +3,17 @@
#include <math.h>
#include <Eigen/Core>
#include <opencv2/core.hpp>
// #include <common_lib.h>
#define SKEW_SYM_MATRX(v) 0.0,-v[2],v[1],v[2],0.0,-v[0],-v[1],v[0],0.0
template<typename T>
Eigen::Matrix<T, 3, 3> skew_sym_mat(const Eigen::Matrix<T, 3, 1> &v)
{
Eigen::Matrix<T, 3, 3> skew_sym_mat;
skew_sym_mat<<0.0,-v[2],v[1],v[2],0.0,-v[0],-v[1],v[0],0.0;
return skew_sym_mat;
}
template<typename T>
Eigen::Matrix<T, 3, 3> Exp(const Eigen::Matrix<T, 3, 1> &&ang)
{