激光测距和制图 (Loam) 是一种使用 3D激光雷达进行状态估计和制图的实时方法。
Sample map built from nsh_indoor_outdoor.bag (opened with ccViewer)
:white_check_mark: Tested with ROS Indigo and Velodyne VLP16. (Screencast)
All sources were taken from ROS documentation
Ask questions here.
$ cd ~/catkin_ws/src/
$ git clone https://github.com/laboshinl/loam_velodyne.git
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ~/catkin_ws/devel/setup.bash
roslaunch loam_velodyne loam_velodyne.launch
In second terminal play sample velodyne data from VLP16 rosbag:
rosbag play ~/Downloads/velodyne.bag
Or read from velodyne VLP16 sample pcap:
roslaunch velodyne_pointcloud VLP16_points.launch pcap:="$HOME/Downloads/velodyne.pcap"
multiScanRegistration crashes right after playing bag fileIssues #71 and
#7 address this
problem. The current known solution is to build the same version of PCL that
you have on your system from source, and set the CMAKE_PREFIX_PATH
accordingly so that catkin can find it. See this
issue
for more details.
Quantifying Aerial LiDAR Accuracy of LOAM for Civil Engineering Applications. Derek Anthony Wolfe
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