SC-A-LOAM-HesaiLidar

Dependencies

• OpenCV 3 or higher
• ROS melodic or higher
• Ceres 1.14.0 or higher

Compile and Run

    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/src
    git clone git@github.com:fengyecl/SC-A-LOAM.git
    cd ~/catkin_ws
    catkin_make
    source ~/catkin_ws/devel/setup.bash
    cd  ~/catkin_ws/src/SC-A-LOAM
    ./run_scaloam.sh ${bag_file_path} ${output_pose_file}

Example Results

Acknowledgements

• Thanks to SC-A-LOAM code authors.