2.2 KiB
Oh-My-LOAM
Oh-My-LOAM is a ROS-free implementation of LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time). This implementation is modified from A-LOAM.
Comparing with A-LOAM, this implementation has following features:
- it's ROS-free
- it's more readable and easier to understand/modify
How to run
BUILD
Install dependences (listed below).
Clone this repository
Compile:
mkdir build && cd build
cmake ..
make -j6
Run with ROS bag as input
Although Oh-My-LOAM is ROS-free, running it with ROS bag as input is the simplest way. We'll take nsh_indoor_outdoor.bag as example. You can download this bag from google drive or baidupan (提取码:9nf7).
Launch Oh-My-LOAM:
./devel/lib/oh_my_loam/main_rosbag ../configs/config_nsh_indoor_outdoor.yaml
Play ROS bag (in a new terminal):
ros play nsh_indoor_outdoor.bag
Run without ROS support
Launch Oh-My-LOAM:
./devel/lib/oh_my_loam/main_noros ../configs/config_nsh_indoor_outdoor.yaml xxxxxx
Please replace xxxxxx with the directory that contains the input point cloud files with tree structure like following:
xxxxxx
├── frame00000.pcd
├── frame00001.pcd
├── frame00002.pcd
├── frame00003.pcd
├── frame00004.pcd
├── ...
Currently only .pcd format is supported.
You can modify examples/main_noros.cc to add support for other point cloud formats.
Dependences
C++17
Eigen: linear algebra, quaternion
sudo apt install libeigen3-dev
pcl: point cloud processing
sudo apt install libpcl-dev
g3log: logging
Follow g3log to install.
yaml-cpp: yaml parsing
sudo apt install libyaml-cpp-dev
ceres: non-linear optimization
sudo apt install libceres-dev