How to implement the ground constraint by using GTSAM
sonphambk opened this issue · 1 comments
sonphambk commented
Hi. Thank you for your great work.
I saw that in the source you also use the ground constraint to align Point Cloud with gravity.
I want to implement it in LIO-SAM by using GTSAM.
Do you have idea or convert it to the GTSAM instead of Ceres?
Thanks
SiyuanHuang95 commented
Hi since we did not have experience with GTSAM, no further help could be offered. And currently no such plan.
You may directly refer to the official tutorial.