zengy5 / loam_livox_zyx

修改后的Loam，scripts里保存位姿和时间为key_frame.txt和time_frame.txt，使用color_map里的frame.py可以进行组合

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:

    sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport

1.2. Ceres Solver

Follow Ceres Installation.

1.3. PCL

Follow PCL Installation.

NOTICE: Recently, we find that the point cloud output form the voxelgrid filter vary form PCL 1.7 and 1.9, and PCL 1.7 leads some failure in some of our examples (issue #28). By this, we strongly recommand you to use update your PCL as version 1.9 if you are using the lower version.

2. Build

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/zengy5/loam_livox_zyx.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3. Directly run

roslaunch loam_livox rosbag_mid100.launch