loam_odometry

loam_odometry is an advanced implementation of LOAM and ALOAM, it also mainly refer the preprocessor of Lego-Loam,such as the segmentation and outlier removement of the each scan.

the original author(zhangji、qintong and Tixiaoshan etc) deserves all credits and respects, I just improve the software engineering practices to make the code more readable and efficient. the purpose of loam_odometry is as below:

1. to improve the quality of the code.
2. to convert a multi-process application into a single-process / multi-threading one; this makes the algorithm more deterministic and slightly faster.
3. to remove hard-coded values and use yaml configuration files to set the parameters.
4. to improve performance, in terms of amount of CPU used to implement the same result.

dependency

1. pcl
2. ceres
3. eigen

usage

roslaunch loam_odometry test_loamlib2.launch

example

the result of dataset in Beijing