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feixyz10 2021-03-10 16:21:17 +08:00 committed by feixyz
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@ -8,12 +8,12 @@ Comparing with A-LOAM, this implementation has following features:
- it's ROS-free - it's ROS-free
- it's more readable and easier to understand/modify - it's more readable and easier to understand/modify
<img src="images/nsh_indoor_outdoor.png" alt="" height="500" align="bottom" /> <img src="images/nsh_indoor_outdoor.png" alt="nsh_indoor_outdoor" height="500" align="bottom" />
# How to run # How to run
## BUILD ## BUILD
Install dependences (lsted below).\ Install dependences (listed below).\
Clone this repository\ Clone this repository\
Compile: Compile:
```bash ```bash
@ -41,26 +41,26 @@ You can write by yourself.
# Dependences # Dependences
### 1. C++17 ### C++17
### 2. Eigen: linear algebra, quaternion ### Eigen: linear algebra, quaternion
``` ```
sudo apt install libeigen3-dev sudo apt install libeigen3-dev
``` ```
### 3. pcl: point cloud processing ### pcl: point cloud processing
``` ```
sudo apt install libpcl-dev sudo apt install libpcl-dev
``` ```
### 4. g3log: logging ### g3log: logging
Follow [g3log](https://github.com/KjellKod/g3log) to install. Follow [g3log](https://github.com/KjellKod/g3log) to install.
### 5. yaml-cpp: yaml parsing ### yaml-cpp: yaml parsing
``` ```
sudo apt install libyaml-cpp-dev sudo apt install libyaml-cpp-dev
``` ```
### 6. ceres: non-linear optimization ### ceres: non-linear optimization
``` ```
sudo apt install libceres-dev sudo apt install libceres-dev
``` ```