target_link_libraries(gtsamimufactor
${catkin_LIBRARIES}
${CHOLMOD_LIBRARIES} gtsam)
target_link_libraries(gtsamimufactor
${catkin_LIBRARIES}
${CHOLMOD_LIBRARIES} gtsam)
ICP算法是點雲配准算法,給出兩組點雲,可以計算出兩組點雲的位姿關係R、t。問題數學表達爲: 已知兩組點雲: 求R、t使