Lego-LOAM中imageProjection详解解释
1. 这个文件整体作用这个文件的输入是原始点云:subLaserCloud nh.subscribe<sensor_msgs::PointCloud2>(pointCloudTopic, 1, &ImageProjection::cloudHandler, this);这里 pointCloudTopic 是原始雷达点云话题。代码订阅一帧 sensor_msgs::PointCloud2 …
2026/6/18 13:49:17