loam_odometry is an advanced implementation of LOAM and ALOAM, it also mainly refer the preprocessor of Lego-Loam,such as the segmentation and outlier removement of the each scan.
the original author(zhangji、qintong and Tixiaoshan etc) deserves all credits and respects, I just improve the software engineering practices to make the code more readable and efficient. the purpose of loam_odometry is as below:
- to improve the quality of the code.
- to convert a multi-process application into a single-process / multi-threading one; this makes the algorithm more deterministic and slightly faster.
- to remove hard-coded values and use
yamlconfiguration files to set the parameters. - to improve performance, in terms of amount of CPU used to implement the same result.
- pcl
- ceres
- eigen
roslaunch loam_odometry test_loamlib2.launchthe result of dataset in Beijing
