dmchen2015 / se_ndt

Implementation of SE-NDT SLAM as in IROS2019

Dependencies: Eigen, PCL, Tensorflow(only if pointnet is used), ROS.

To use:

git clone --recurse-submodules https://github.com/azaganidis/se_ndt
mkdir se_ndt/build
cd se_ndt/build
cmake ..
make -j4
./ros_register 

On a new terminal:

cd se_ndt/pointnet2
python RosClassify.py

If python complains about not finding shared object files, you have to rebuild the PointNet++ libs, in the folder tf_ops.

Simple usage example of the registration at src/simple_registration.cpp

PointNet++ building with:

cd se_ndt/pointnet2/deploy/build
cmake ..