94 lines
2.6 KiB
Markdown
94 lines
2.6 KiB
Markdown
# Oh-My-LOAM
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Oh-My-LOAM is a ROS-free implementation of LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time).
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This implementation is modified from [A-LOAM](https://github.com/HKUST-Aerial-Robotics/A-LOAM).
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Comparing with A-LOAM, this implementation has following features:
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- ROS-free: it can run without ROS environment
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- Multi-threading instead of multi-process: more deterministic
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- Higher code quality: more readable and easier to understand/modify
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<img src="images/nsh_indoor_outdoor.png" alt="nsh_indoor_outdoor" height="500" align="bottom" />
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NOTE: This project is licensed under the terms of the MIT license.
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# How to run
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## BUILD
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Install dependences (listed below).\
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Clone this repository\
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Compile:
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```bash
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mkdir build && cd build
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cmake ..
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make -j6
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```
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## Run with ROS bag as input
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Although **Oh-My-LOAM** is ROS-free, running it with ROS bag as input is the simplest way.
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We'll take *nsh_indoor_outdoor.bag* as example.
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You can download this bag from [google drive](https://drive.google.com/file/d/1s05tBQOLNEDDurlg48KiUWxCp-YqYyGH/view) or [baidupan](https://pan.baidu.com/s/1TbfMQ3Rvmmn1hCjFhXSPcQ) (提取码:9nf7).
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Launch **Oh-My-LOAM**:
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```
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./devel/lib/oh_my_loam/main_rosbag ../configs/config_nsh_indoor_outdoor.yaml
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```
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Play ROS bag (in a new terminal):
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```
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ros play nsh_indoor_outdoor.bag
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```
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## Run without ROS support
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Launch **Oh-My-LOAM**:
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```
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./devel/lib/oh_my_loam/main_noros ../configs/config_nsh_indoor_outdoor.yaml xxxxxx
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```
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Please replace `xxxxxx` with the directory that contains the input point cloud files with tree structure like following:
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```
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xxxxxx
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├── frame00000.pcd
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├── frame00001.pcd
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├── frame00002.pcd
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├── frame00003.pcd
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├── frame00004.pcd
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├── ...
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```
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Currently only `.pcd` format is supported.
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You can modify `examples/main_noros.cc` to add support for other point cloud formats.
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# Dependences
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### OS
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Tested on ubuntu 16.04/18.04/20.04.
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### C++17
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If cannot find *std::filesystem* error is encountered during your compiling, please upgrade your compiler.
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We recommend `g++-9` (or higher version).
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### ROS
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Only `examples/main_rosbag.cc` needs ROS. You can exclude it from compiling by modifying `examples/CMakeLists.txt`.
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### Eigen: linear algebra, quaternion
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```
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sudo apt install libeigen3-dev
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```
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### pcl: point cloud processing
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```
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sudo apt install libpcl-dev
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```
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### g3log: logging
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Follow [g3log](https://github.com/KjellKod/g3log) to install.
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### yaml-cpp: yaml parsing
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```
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sudo apt install libyaml-cpp-dev
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```
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### ceres: non-linear optimization
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```
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sudo apt install libceres-dev
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```
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