pcd-map-localization

Localization based on prior point cloud map saved by lio_sam or other methods meanwhile calibrate Lidar and IMU extrinsics meanwhile.

Dependencies

Test in ubuntu 20.04 ros noetic

ROS install tutorial

Boost c++

sudo apt install libboost-all-dev

Datasets

Datasets is pcd point cloud as follow which generated by lio-sam-noted which fork from LIO-SAM.

NOTE: we modified pcd map save function of lio-sam-noted to save split corner and surf features.

The bag file can generate by run(map_helper.cc) :

rosrun pcd_map_localization pcd_map_localization_mapHelper

Build

# cd catkin workspace in your env
cd ~/catkin_ws
# Just run catkin_make or some other config you want
catkin_make

example

localization

roslaunch pcd_map_localization run.launch

calibration