Oh-My-LOAM

How to run

BUILD

Install dependences (listed below).
Clone this repository
Compile:

mkdir build && cd build
cmake ..
make -j6

Dependences

OS

Tested on ubuntu 16.04/18.04/20.04.

C++17

If cannot find std::filesystem error is encountered during your compiling, please upgrade your compiler. We recommend g++-9 (or higher version).

ROS

Eigen: linear algebra, quaternion

sudo apt install libeigen3-dev

g3log: logging

Follow g3log to install.

yaml-cpp: yaml parsing

sudo apt install libyaml-cpp-dev

ceres: non-linear optimization

sudo apt install libceres-dev