基于ROS和C++实现的激光雷达和毫米波雷达的数据融合算法源码+运行说明(卡尔曼过滤算法+扩展卡尔曼滤波算法).zip

L 0 0 1477010443349642 0 0 0 0 R 0 0 0 1477010443349642 0 0 0 0 L 1.559445e+00 -1.385015e-01 1477010444349642 2.098967e+00 5.222280e-02 2.195949e+00 1.093391e-01 R 1.812711e+00 2.619727e-02 2.305732e+00 1477010444349642 2.098967e+00 5.222280e-02 2.195949e+00 1.093391e-01 L 3.890927e+00 -1.341657e-01 1477010445349642 4.291359e+00 2.153118e-01 2.284336e+00 2.263225e-01 R 4.200967e+00 5.202598e-02 2.418127e+00 1477010445349642 4.291359e+00 2.153118e-01 2.284336e+00 2.263225e-01 L 6.863517e+00 4.168175e-01 1477010446349642 6.569422e+00 4.960956e-01 2.363816e+00 3.488471e-01 R 6.456604e+00 7.330529e-02 2.438466e+00 1477010446349642 6.569422e+00 4.960956e-01 2.363816e+00 3.488471e-01 L 9.077331e+00 5.932112e-01 1477010447349642 8.924371e+00 8.992403e-01 2.433593e+00 4.745258e-01 R 8.941596e+00 9.936074e-02 2.529122e+00 1477010447349642 8.924371e+00 8.992403e-01 2.433593e+00 4.745258e-01 L 1.157555e+01 1.666900e+00 1477010448349642 1.134677e+01 1.426997e+00 2.493282e+00 6.007812e-01 R 1.153365e+01 1.242681e-01 2.500995e+00 1477010448349642 1.134677e+01 1.426997e+00 2.493282e+00 6.007812e-01 L 1.359209e+01 2.311915e+00 1477010449349642 1.382695e+01 2.079045e+00 2.542900e+00 7.249468e-01 R 1.380271e+01 1.453491e-01 2.539724e+00 1477010449349642 1.382695e+01 2.079045e+00 2.542900e+00 7.249468e-01 L 1.664559e+01 2.902999e+00 1477010450349642 1.635537e+01 2.852433e+00 2.582842e+00 8.443653e-01 R 1.652890e+01 1.730753e-01 2.728349e+00 1477010450349642 1.635537e+01 2.852433e+00 2.582842e+00 8.443653e-01 L 1.901058e+01 3.705553e+00 1477010451349642 1.892299e+01 3.741610e+00 2.613820e+00 9.564796e-01 R 1.974624e+01 1.973267e-01 2.502012e+00 1477010451349642 1.892299e+01 3.741610e+00 2.613820e+00 9.564796e-01 L 2.133124e+01 4.732053e+00 1477010452349642 2.152152e+01 4.738551e+00 2.636790e+00 1.058912e+00 R 2.213645e+01 2.161499e-01 2.798219e+00 1477010452349642 2.152152e+01 4.738551e+00 2.636790e+00 1.058912e+00 L 2.407871e+01 5.569675e+00 1477010453349642 2.414369e+01 5.832949e+00 2.652861e+00 1.149525e+00 R 2.526425e+01 2.366585e-01 3.081090e+00 1477010453349642 2.414369e+01 5.832949e+00 2.652861e+00 1.149525e+00 L 2.660525e+01 6.961020e+00 1477010454349642 2.678329e+01 7.012457e+00 2.663198e+00 1.226470e+00 R 2.742432e+01 2.543628e-01 2.977206e+00 1477010454349642 2.678329e+01 7.012457e+00 2.663198e+00 1.226470e+00 L 2.958639e+01 8.087890e+00 1477010455349642 2.943523e+01 8.262985e+00 2.668927e+00 1.288219e+00 R 3.060322e+01 2.727931e-01 3.000533e+00 1477010455349642 2.943523e+01 8.262985e+00 2.668927e+00 1.288219e+00 L 3.194160e+01 9.880168e+00 1477010456349642 3.209547e+01 9.569013e+00 2.671045e+00 1.333578e+00 R 3.318149e+01 2.903330e-01 2.789422e+00 1477010456349642 3.209547e+01 9.569013e+00 2.671045e+00 1.333578e+00 L 3.461568e+01 1.069880e+01 1477010457349642 3.476081e+01 1.091392e+01 2.670346e+00 1.361701e+00 R 3.674365e+01 3.039004e-01 2.988207e+00 1477010457349642 3.476081e+01 1.091392e+01 2.670346e+00 1.361701e+00 L 3.714036e+01 1.208833e+01 1477010458349642 3.742874e+01 1.228034e+01 2.667361e+00 1.372088e+00 R 3.946136e+01 3.168263e-01 3.028242e+00 1477010458349642 3.742874e+01 1.228034e+01 2.667361e+00 1.372088e+00 L 4.032853e+01 1.346661e+01 1477010459349642 4.009711e+01 1.365048e+01 2.662324e+00 1.364585e+00 R 4.216287e+01 3.290412e-01 2.947967e+00 1477010459349642 4.009711e+01 1.365048e+01 2.662324e+00 1.364585e+00 L 4.276639e+01 1.482937e+01 1477010460349642 4.276381e+01 1.500648e+01 2.655152e+00 1.339380e+00 R 4.513067e+01 3.383838e-01 3.104881e+00 1477010460349642 4.276381e+01 1.500648e+01 2.655152e+00 1.339380e+00 L 4.535721e+01 1.655239e+01 1477010461349642 4.542651e+01 1.633075e+01 2.645461e+00 1.297005e+00 R 4.854672e+01 3.472554e-01 3.079899e+00 1477010461349642 4.542651e+01 1.633075e+01 2.645461e+00 1.297005e+00 L 4.815409e+01 1.728347e+01 1477010462349642 4.808234e+01 1.760632e+01 2.632596e+00 1.238325e+00 R 5.103968e+01 3.506980e-01 2.752674e+00 1477010462349642 4.808234e+01 1.760632e+01 2.632596e+00 1.238325e+00 L 5.062278e+01 1.907211e+01 1477010463349642 5.072763e+01 1.881717e+01 2.615687e+00 1.164538e+00 R 5.394915e+01 3.556170e-01 2.885539e+00 1477010463349642 5.072763e+01 1.881717e+01 2.615687e+00 1.164538e+00 L 5.372678e+01 1.989821e+01 1477010464349642 5.335773e+01 1.994857e+01 2.593717e+00 1.077164e+00 R 5.709391e+01 3.553123e-01 2.718978e+00 1477010464349642 5.335773e+01 1.994857e+01 2.593717e+00 1.077164e+00 L 5.603223e+01 2.109230e+01 1477010465349642 5.596692e+01 2.098742e+01 2.565613e+00 9.780221e-01 R 5.967820e+01 3.593175e-01 2.678392e+00 1477010465349642 5.596692e+01 2.098742e+01 2.565613e+00 9.780221e-01 L 5.866320e+01 2.178207e+01 1477010466349642 5.854835e+01 2.192253e+01 2.530333e+00 8.692047e-01 R 6.256831e+01 3.589798e-01 2.817748e+00 1477010466349642 5.854835e+01 2.192253e+01 2.530333e+00 8.692047e-01 L 6.087224e+01 2.278765e+01 1477010467349642 6.109413e+01 2.274490e+01 2.486966e+00 7.530307e-01 R 6.484539e+01 3.566487e-01 2.671849e+00 1477010467349642 6.109413e+01 2.274490e+01 2.486966e+00 7.530307e-01 L 6.338208e+01 2.340690e+01 1477010468349642 6.359551e+01 2.344793e+01 2.434818e+00 6.319871e-01 R 6.802621e+01 3.565512e-01 2.503319e+00 1477010468349642 6.359551e+01 2.344793e+01 2.434818e+00 6.319871e-01 L 6.634029e+01 2.399586e+01 1477010469349642 6.604312e+01 2.402757e+01 2.373488e+00 5.086549e-01 R 7.010336e+01 3.487223e-01 2.230104e+00 1477010469349642 6.604312e+01 2.402757e+01 2.373488e+00 5.086549e-01 L 6.826205e+01 2.435817e+01 1477010470349642 6.842730e+01 2.448242e+01 2.302925e+00 3.856231e-01 R 7.295088e+01 3.440404e-01 2.502639e+00 1477010470349642 6.842730e+01 2.448242e+01 2.302925e+00 3.856231e-01 L 7.082748e+01 2.488439e+01 1477010471349642 7.073845e+01 2.481366e+01 2.223466e+00 2.653951e-01 R 7.491955e+01 3.355868e-01 2.202921e+00 1477010471349642 7.073845e+01 2.481366e+01 2.223466e+00 2.653951e-01 L 7.289226e+01 2.471354e+01 1477010472349642 7.296749e+01 2.502499e+01 2.135839e+00 1.502921e-01 R 7.724250e+01 3.300601e-01 2.095280e+00 1477010472349642 7.296749e+01 2.502499e+01 2.135839e+00 1.502921e-01 L 7.500209e+01 2.525945e+01 1477010473349642 7.510617e+01 2.512237e+01 2.041141e+00 4.236258e-02 R 7.907670e+01 3.235040e-01 2.015980e+00 1477010473349642 7.510617e+01 2.512237e+01 2.041141e+00 4.236258e-02 L 7.712245e+01 2.492967e+01 1477010474349642 7.714752e+01 2.511374e+01 1.940798e+00 -5.669785e-02 R 8.117997e+01 3.168645e-01 1.610124e+00 1477010474349642 7.714752e+01 2.511374e+01 1.940798e+00 -5.669785e-02 L 7.910890e+01 2.503687e+01 1477010475349642 7.908610e+01 2.500864e+01 1.836491e+00 -1.456073e-01 R 8.301602e+01 3.055133e-01 1.740946e+00 1477010475349642 7.908610e+01 2.500864e+01 1.836491e+00 -1.456073e-01 L 8.080743e+01 2.486882e+01 1477010476349642 8.091825e+01 2.481776e+01 1.730078e+00 -2.235364e-01 R 8.486818e+01 2.974122e-01 1.480564e+00 1477010476349642 8.091825e+01 2.481776e+01 1.730078e+00 -2.235364e-01 L 8.262158e+01 2.463932e+01 1477010477349642 8.264225e+01 2.455250e+01 1.623498e+00 -2.901201e-01 R 8.615829e+01 2.921110e-01 1.429528e+00 1477010477349642 8.264225e+01 2.455250e+01 1.623498e+00 -2.901201e-01 L 8.417335e+01 2.455042e+01 1477010478349642 8.425837e+01 2.422449e+01 1.518687e+00 -3.454441e-01 R 8.773126e+01 2.810227e-01 1.497477e+00 1477010478349642 8.425837e+01 2.422449e+01 1.518687e+00 -3.454441e-01 L 8.563776e+01 2.380798e+01 1477010479349642 8.576880e+01 2.384512e+01 1.417490e+00 -3.900057e-01 R 8.919568e+01 2.695749e-01 1.285113e+00 1477010479349642 8.576880e+01 2.384512e+01 1.417490e+00 -3.900057e-01 L 8.694492e+01 2.352704e+01 1477010480349642 8.717760e+01 2.342518e+01 1.321593e+00 -4.246540e-01 R 9.071713e+01 2.621807e-01 1.125894e+00 1477010480349642 8.717760e+01 2.342518e+01 1.321593e+00 -4.246540e-01 L 8.882267e+01 2.278691e+01 1477010481349642 8.849045e+01 2.297451e+01 1.232475e+00 -4.505145e-01 R 9.134890e+01 2.539530e-01 1.140412e+00 1477010481349642 8.849045e+01 2.297451e+01 1.232475e+00 -4.505145e-01 L 8.949667e+01 2.230817e+01 1477010482349642 8.971448