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 (lsted 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:

./devel/lib/oh_my_loam/main_rosbag ../configs/config_nsh_indoor_outdoor.yaml

Play bag:

ros play nsh_indoor_outdoor.bag

Run without ROS support

You can write by yourself.

Dependences

1. C++17

2. Eigen: linear algebra, quaternion

sudo apt install libeigen3-dev

3. pcl: point cloud processing

sudo apt install libpcl-dev

4. g3log: logging

Follow g3log to install.

5. yaml-cpp: yaml parsing

sudo apt install libyaml-cpp-dev

6. ceres: non-linear optimization

sudo apt install libceres-dev

ROS (optional)