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项目作者： lizimo061

项目描述 ：
Python implementation of LOAM (Lidar Odometry and Mapping) for rapid prototyping or educational purpose
高级语言： Python
项目地址: git://github.com/lizimo061/PyLOAM.git
创建时间： 2020-08-08T07:03:25Z
项目社区：https://github.com/lizimo061/PyLOAM
开源协议：
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PyLOAM

Python version LOAM

PyLOAM is implemented based on LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time).

Requirements

  • Python 3.6.9
  • Numpy 1.19.1
  • Open3D 0.10.0.0
  • pypcd 0.1.1

Usage

Currently I convert scans to .npy files.

python3 src/main_loam.py --npy_path ${DATA_PATH}

References

TODOs

Many stuff are still under development:

  • Configuration class
  • Visualization
  • Evaluation

Example

Mapped feature points from NSH indoor outdor dataset.