# Loam_Livox_MeiyuanXiang

**Repository Path**: qcl5683/Loam_Livox_MeiyuanXiang

## Basic Information

- **Project Name**: Loam_Livox_MeiyuanXiang
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2021-12-07
- **Last Updated**: 2022-10-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Loam_Livox_MeiyuanXiang
Loam_Livox相关论文、代码中文注释以及代码改动

# 参考
https://github.com/hku-mars/loam_livox  

# 环境
1. Ubuntu（测试了Ubuntu16.04.5、Ubuntu18.04）
2. ROS (测试了kinetic、melodic)
3. PCL（测试了pcl1.9）
4. Opencv（测试了opencv3.4.3）
5. Ceres Solver（测试ceres-solver-1.14.0）
6. livox_ros_driver

# 编译
1. 下载源码 git clone https://github.com/MeiyuanXiang/Loam_Livox_MeiyuanXiang.git
2. 将Loam_Livox_MeiyuanXiang\src下的loam_livox或loam_livox_modified拷贝到ros工程空间src文件夹内，例如~/catkin_ws/src/
3. cd ~/catkin_ws
4. catkin_make
5. source ~/catkin_ws/devel/setup.bash

# 数据
链接：https://pan.baidu.com/s/1nMSJRuP8io8mEqLgACUT_w  
提取码：sv9z  
loop_hku_main.bag和loop_hku_zym.bag数据包中包含图像数据  

# 运行
1. Livox Mid-40、Livox Mid-70直连  
roslaunch loam_livox livox.launch  
roslaunch livox_ros_driver livox_lidar.launch  
2. 普通场景数据  
roslaunch loam_livox rosbag.launch  
rosbag play CYT_02.bag  
3. 大场景数据  
roslaunch loam_livox rosbag_largescale.launch  
rosbag play HKUST_01.bag  
4. Livox Mid-100数据（链接：https://pan.baidu.com/s/1hAxftuRWAz8oj8-P1an_IA 提取码：9gc9）  
roslaunch loam_livox rosbag_mid100.launch  
rosbag play mid100_example.bag  
5. 简单回环检测  
roslaunch loam_livo loop_simple.launch  
rosbag play loop_simple.bag  
6. 回环检测  
roslaunch loam_livox rosbag_loop.launch  
rosbag play loop_hku_main.bag