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Announcement: Thank everyone who has been testing and supporting our LeGO-LOAM package. I have completed my Ph.D. program at Stevens and started a new job at MIT. Due to the limitation of my working bandwidth, the update and answering for the repository may be delayed. Sorry for any inconvenience.
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‎.github/stale.yml

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# Number of days of inactivity before an issue becomes stale
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daysUntilStale: 60
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# Number of days of inactivity before a stale issue is closed
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daysUntilClose: 7
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# Issues with these labels will never be considered stale
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exemptLabels:
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- pinned
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- security
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# Label to use when marking an issue as stale
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staleLabel: wontfix
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# Comment to post when marking an issue as stale. Set to `false` to disable
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markComment: >
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This issue has been automatically marked as stale because it has not had
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recent activity. It will be closed if no further activity occurs. Thank you
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for your contributions.
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# Comment to post when closing a stale issue. Set to `false` to disable
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closeComment: false

‎LICENSE

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BSD 3-Clause License
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Copyright (c) 2018, Robust Field Autonomy Lab
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎LeGO-LOAM/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(lego_loam)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
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find_package(catkin REQUIRED COMPONENTS
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tf
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roscpp
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rospy
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cv_bridge
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image_transport
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pcl_ros
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pcl_conversions
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std_msgs
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sensor_msgs
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geometry_msgs
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nav_msgs
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cloud_msgs
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)
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find_package(GTSAM REQUIRED QUIET)
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find_package(PCL REQUIRED QUIET)
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find_package(OpenCV REQUIRED QUIET)
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catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS cloud_msgs
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DEPENDS PCL
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${GTSAM_INCLUDE_DIR}
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)
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link_directories(
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include
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${OpenCV_LIBRARY_DIRS}
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${PCL_LIBRARY_DIRS}
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${GTSAM_LIBRARY_DIRS}
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)
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add_executable(imageProjection src/imageProjection.cpp)
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add_dependencies(imageProjection ${catkin_EXPORTED_TARGETS} cloud_msgs_gencpp)
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target_link_libraries(imageProjection ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
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add_executable(featureAssociation src/featureAssociation.cpp)
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add_dependencies(featureAssociation ${catkin_EXPORTED_TARGETS} cloud_msgs_gencpp)
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target_link_libraries(featureAssociation ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
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add_executable(mapOptmization src/mapOptmization.cpp)
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target_link_libraries(mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)
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add_executable(transformFusion src/transformFusion.cpp)
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target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})

‎LeGO-LOAM/include/utility.h

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#ifndef _UTILITY_LIDAR_ODOMETRY_H_
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#define _UTILITY_LIDAR_ODOMETRY_H_
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#include <ros/ros.h>
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#include <sensor_msgs/Imu.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <nav_msgs/Odometry.h>
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#include "cloud_msgs/cloud_info.h"
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#include <opencv/cv.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl_ros/point_cloud.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include <pcl/range_image/range_image.h>
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#include <pcl/filters/filter.h>
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#include <pcl/filters/voxel_grid.h>
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#include <pcl/kdtree/kdtree_flann.h>
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#include <pcl/common/common.h>
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#include <pcl/registration/icp.h>
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#include <tf/transform_broadcaster.h>
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#include <tf/transform_datatypes.h>
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#include <vector>
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#include <cmath>
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#include <algorithm>
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#include <queue>
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#include <deque>
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#include <iostream>
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#include <fstream>
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#include <ctime>
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#include <cfloat>
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#include <iterator>
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#include <sstream>
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#include <string>
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#include <limits>
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#include <iomanip>
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#include <array>
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#include <thread>
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#include <mutex>
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#define PI 3.14159265
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using namespace std;
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typedef pcl::PointXYZI PointType;
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extern const string pointCloudTopic = "/velodyne_points";
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extern const string imuTopic = "/imu/data";
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// Save pcd
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extern const string fileDirectory = "/tmp/";
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// VLP-16
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extern const int N_SCAN = 16;
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extern const int Horizon_SCAN = 1800;
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extern const float ang_res_x = 0.2;
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extern const float ang_res_y = 2.0;
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extern const float ang_bottom = 15.0+0.1;
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extern const int groundScanInd = 7;
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// HDL-32E
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// extern const int N_SCAN = 32;
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// extern const int Horizon_SCAN = 1800;
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// extern const float ang_res_x = 360.0/float(Horizon_SCAN);
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// extern const float ang_res_y = 41.33/float(N_SCAN-1);
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// extern const float ang_bottom = 30.67;
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// extern const int groundScanInd = 20;
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// Ouster users may need to uncomment line 159 in imageProjection.cpp
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// Usage of Ouster imu data is not fully supported yet, please just publish point cloud data
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// Ouster OS1-16
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// extern const int N_SCAN = 16;
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// extern const int Horizon_SCAN = 1024;
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// extern const float ang_res_x = 360.0/float(Horizon_SCAN);
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// extern const float ang_res_y = 33.2/float(N_SCAN-1);
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// extern const float ang_bottom = 16.6+0.1;
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// extern const int groundScanInd = 7;
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// Ouster OS1-64
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// extern const int N_SCAN = 64;
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// extern const int Horizon_SCAN = 1024;
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// extern const float ang_res_x = 360.0/float(Horizon_SCAN);
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// extern const float ang_res_y = 33.2/float(N_SCAN-1);
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// extern const float ang_bottom = 16.6+0.1;
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// extern const int groundScanInd = 15;
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extern const bool loopClosureEnableFlag = false;
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extern const double mappingProcessInterval = 0.3;
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extern const float scanPeriod = 0.1;
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extern const int systemDelay = 0;
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extern const int imuQueLength = 200;
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extern const float sensorMountAngle = 0.0;
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extern const float segmentTheta = 60.0/180.0*M_PI; // decrese this value may improve accuracy
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extern const int segmentValidPointNum = 5;
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extern const int segmentValidLineNum = 3;
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extern const float segmentAlphaX = ang_res_x / 180.0 * M_PI;
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extern const float segmentAlphaY = ang_res_y / 180.0 * M_PI;
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extern const int edgeFeatureNum = 2;
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extern const int surfFeatureNum = 4;
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extern const int sectionsTotal = 6;
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extern const float edgeThreshold = 0.1;
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extern const float surfThreshold = 0.1;
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extern const float nearestFeatureSearchSqDist = 25;
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// Mapping Params
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extern const float surroundingKeyframeSearchRadius = 50.0; // key frame that is within n meters from current pose will be considerd for scan-to-map optimization (when loop closure disabled)
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extern const int surroundingKeyframeSearchNum = 50; // submap size (when loop closure enabled)
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// history key frames (history submap for loop closure)
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extern const float historyKeyframeSearchRadius = 7.0; // key frame that is within n meters from current pose will be considerd for loop closure
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extern const int historyKeyframeSearchNum = 25; // 2n+1 number of hostory key frames will be fused into a submap for loop closure
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extern const float historyKeyframeFitnessScore = 0.3; // the smaller the better alignment
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extern const float globalMapVisualizationSearchRadius = 500.0; // key frames with in n meters will be visualized
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struct smoothness_t{
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float value;
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size_t ind;
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};
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struct by_value{
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bool operator()(smoothness_t const &left, smoothness_t const &right) {
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return left.value < right.value;
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}
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};
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/*
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* A point cloud type that has 6D pose info ([x,y,z,roll,pitch,yaw] intensity is time stamp)
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*/
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struct PointXYZIRPYT
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{
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PCL_ADD_POINT4D
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PCL_ADD_INTENSITY;
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float roll;
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float pitch;
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float yaw;
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double time;
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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} EIGEN_ALIGN16;
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POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZIRPYT,
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(float, x, x) (float, y, y)
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(float, z, z) (float, intensity, intensity)
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(float, roll, roll) (float, pitch, pitch) (float, yaw, yaw)
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(double, time, time)
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)
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typedef PointXYZIRPYT PointTypePose;
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#endif

‎LeGO-LOAM/launch/block.png

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‎LeGO-LOAM/launch/dataset-demo.gif

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‎LeGO-LOAM/launch/demo.gif

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‎LeGO-LOAM/launch/google-earth.png

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‎LeGO-LOAM/launch/jackal-label.jpg

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‎LeGO-LOAM/launch/odometry.jpg

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‎LeGO-LOAM/launch/run.launch

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<launch>
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<!--- Sim Time -->
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<param name="/use_sim_time" value="true" />
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<!--- Run Rviz-->
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find lego_loam)/launch/test.rviz" />
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<!--- TF -->
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<node pkg="tf" type="static_transform_publisher" name="camera_init_to_map" args="0 0 0 1.570795 0 1.570795 /map /camera_init 10" />
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<node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="0 0 0 -1.570795 -1.570795 0 /camera /base_link 10" />
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<!--- LeGO-LOAM -->
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<node pkg="lego_loam" type="imageProjection" name="imageProjection" output="screen"/>
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<node pkg="lego_loam" type="featureAssociation" name="featureAssociation" output="screen"/>
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<node pkg="lego_loam" type="mapOptmization" name="mapOptmization" output="screen"/>
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<node pkg="lego_loam" type="transformFusion" name="transformFusion" output="screen"/>
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</launch>

‎LeGO-LOAM/launch/seg-total.jpg

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