/SC-LEGO-LOAM

针对sc lego loam的代码详细解读以及测试

Primary LanguageC++MIT LicenseMIT

SC-LEGO-LOAM

本项目解读了SC-LeGO-LOAM的相关代码，具体操作步骤如下：

1.Ubuntu and ROS

Ubuntu 64-bit 18.04.

ROS Melodic. ROS Installation

2. 安装 GTSAM

最好安装4.0.0-alpha2的GTSAM版本

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install

3. 安装 SC-LeGO-LOAM

cd ~/catkin_ws/src
git clone https://github.com/lovelyyoshino/SC-LEGO-LOAM.git
cd ..
catkin_make
source devel/setup.bash

4. 下载 KITTI数据集

下载KITTI sequence 05 或者 KITTI sequence 07，这两个都是标准的ros的bag包，如果自己需要可以使用kitti2bag来自行转换

sudo apt-get install unzip 
cp ~/Downloads/2011_09_30_0027.zip ~/catkin_ws/src/SC-LEGO-LOAM/SC-LeGO-LOAM/LeGO-LOAM/dataset/
cd ~/catkin_ws/src/SC-LEGO-LOAM/SC-LeGO-LOAM/LeGO-LOAM/dataset/
unzip 2011_09_30_0027.zip

5. 运行代码

#实时运行
roslaunch lego_loam run.launch
rosbag play 2011_09_30_0027.bag
#根据pcd来绘制地图
roslaunch lego_loam map_loader.launch

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