# LeGO-LOAM_NOTED

**Repository Path**: xiaojake/LeGO-LOAM_NOTED

## Basic Information

- **Project Name**: LeGO-LOAM_NOTED
- **Description**: LeGO-LOAM代码注释与学习
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2021-04-12
- **Last Updated**: 2022-02-12

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# LeGO-LOAM_NOTED
LeGO-LOAM代码注释与学习

### 博客链接
目前进行的一些更新都会在CSDN上进行，全部更新完会再更新个人博客上的内容。
CSDN博客的内容链接：      
1.[地图优化代码理解](https://blog.csdn.net/wykxwyc/article/details/98316127)    
2.[图像重投影代码理解](https://blog.csdn.net/wykxwyc/article/details/98317100)    
3.[特征关联代码理解](https://blog.csdn.net/wykxwyc/article/details/98317544)    
4.[LeGO-LOAM代码中数学公式的解析](https://blog.csdn.net/wykxwyc/article/details/98318294)     
5.[LeGO-LOAM论文翻译(内容精简)](https://blog.csdn.net/wykxwyc/article/details/89605721)      
6.[关于位姿变换的一道题](https://blog.csdn.net/wykxwyc/article/details/101712524)     

个人博客上的目前还没有进行更新:    
1.[地图优化代码理解](https://wykxwyc.github.io/2019/01/21/LeGO-LOAM-code-review-mapOptmization/)   
2.[图像重投影代码理解](https://wykxwyc.github.io/2019/01/23/LeGO-LOAM-code-review-imageProjection/)   
3.[特征关联代码理解](https://wykxwyc.github.io/2019/01/24/LeGO-LOAM-code-review-featureAssociation/)    
4.[LeGO-LOAM代码中数学公式的解析](https://wykxwyc.github.io/2019/08/01/The-Math-Formula-in-LeGO-LOAM/)       
5.[LeGO-LOAM论文翻译(内容精简)](https://wykxwyc.github.io/2019/04/26/LeGO-LOAM-Paper-Traslation-and-Summary/)   

### 实验与说明
The cordinate of velodyne LiDAR:    

<img src="https://github.com/wykxwyc/LeGO-LOAM_NOTED/blob/master/velodyne_LiDAR_cordinate.jpg" width = 80% height = 80%/>   


The cordinate of frame-of-integrated_to_init:    

<img src="https://github.com/wykxwyc/LeGO-LOAM_NOTED/blob/master/frame-of-integrated_to_init.jpg" width = 80% height = 80%/>   


Test without IMU:    

<img src="https://github.com/wykxwyc/LeGO-LOAM_NOTED/blob/master/lego-loam-experiment.jpg" width = 80% height = 80%/>   
<img src="https://github.com/wykxwyc/LeGO-LOAM_NOTED/blob/master/lego-loam-experiment-downward.jpg" width = 80% height = 80%/>  



ROS nodes in LeGO-LOAM:    

<img src="https://github.com/wykxwyc/LeGO-LOAM_NOTED/blob/master/lego-loam-nodes.png" width = 80% height = 80%/>


### About update
2018-12-28 Forked from LeGO-LOAM: https://github.com/RobustFieldAutonomyLab/LeGO-LOAM       
2019-10-08 Update the comment and the blog