A-LOAM学习

一、复现

1.1 Ubuntu 和 ROS

A-LOAM

1.2 Ceres Solver

git clone https://ceres-solver.googlesource.com/ceres-solver

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# Use ATLAS for BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev

cd /home/nj/ceres-solver
mkdir build
cd build
cmake ..
sudo make install

1.3 PCL

参考ubuntu20.04下安装pcl
先VTK后PCL
直接下面此命令

sudo apt-get install libpcl-dev

二、下载A-LOAM

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

三、下数据集

下载 NSH indoor outdoor

roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag

后面有研究代码解析，有时间再写吧