feat(slam): add lidar SLAM and pointcloud processing packages

2026-01-13 19:12:25 +08:00
parent dcb52622eb
commit ddef31d11a
140 changed files with 29546 additions and 0 deletions
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+# the preintegrated Lidar states at the time of IMU measurements in a frame
+float64  offset_time # the offset time of IMU measurement w.r.t the first lidar point
+float64[3] acc       # the preintegrated total acceleration (global frame) at the Lidar origin
+float64[3] gyr       # the unbiased angular velocity (body frame) at the Lidar origin
+float64[3] vel       # the preintegrated velocity (global frame) at the Lidar origin
+float64[3] pos       # the preintegrated position (global frame) at the Lidar origin
+float64[9] rot       # the preintegrated rotation (global frame) at the Lidar origin