kitti-lego-loam:使用KITTI数据轻松描述运行和评估Lego-LOAM

# LeGO-LOAM for kitti dataset This repository contains the modified code of LeGO-LOAM to run and evaluate with the kitti-data set. When you run the code, you'll get the trajectory results of LeGO-LOAM in KITTI ground-truth format and you can directly evaluate the result with KITTI ground-truth by EVO-eval kit. Wish you find it helpful, especially for those who are not familiar with ROS and LOAM. ## Dependency - [ROS](http://wiki.ros.org/ROS/Installation) (tested with indigo and kinetic) - [gtsam](https://github.com/borglab/gtsam/releases) (Georgia Tech Smoothing and Mapping library, 4.0.0-alpha2) ``` wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/ cd ~/Downloads/gtsam-4.0.0-alpha2/ mkdir build && cd build cmake .. sudo make install ``` ## Compile 1. You can use the following commands to download and compile the package. ``` cd ~/catkin_ws/src git clone https://github.com/Mitchell-Lee-93/kitti-lego-loam.git cd .. rosdep install --from-paths src --ignore-src -r -y catkin_make ``` ## Making new bagfile from kitti dataset Download odometry dataset(color or gray, velodyne, calibration, ground truth) from : http://www.cvlibs.net/datasets/kitti/eval_odometry.php and Merge them all in one dataset directory 1. Edit the launch file ``` gedit ~/catkin_ws/src/kittibag/launch/kittibag.launch ``` Change 'dataset_folder' and 'output_bag_file' to your own directories 2. Run the launch file: ``` roslaunch kittibag kittibag.launch ``` ## Run the package 1. Before run, you should change the directory of the result files ``` gedit ~/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/launch/run.launch ``` change 'RESULT_PATH' to your result dir 2. Run the launch file: ``` roslaunch lego_loam run.launch ``` Notes: The parameter "/use_sim_time" is set to "true" for simulation, "false" to real robot usage. 3. Play existing bag files: ``` rosbag play *.bag --clock ``` ## Evaluation with evo kit Check and follow this repository https://github.com/MichaelGrupp/evo ## Evaluation results <img src = "https://raw.githubusercontent.com/Mitchell-Lee-93/kitti-lego-loam/master/kittibag/pic/1.png" width = "300"> <img src = "https://raw.githubusercontent.com/Mitchell-Lee-93/kitti-lego-loam/master/kittibag/pic/2.png" width = "300"> <img src = "https://raw.githubusercontent.com/Mitchell-Lee-93/kitti-lego-loam/master/kittibag/pic/3.png" width = "200"> ## For A-LOAM with kitti check https://github.com/Mitchell-Lee-93/kitti-A-LOAM ## Original code from https://github.com/RobustFieldAutonomyLab/LeGO-LOAM Modified code 1. utility.h for Velodyne 64 channel ``` extern const string pointCloudTopic = "/kitti/velo/pointcloud"; <- you should check your own bag file topic //param for vel-64 extern const int N_SCAN = 64; extern const int Horizon_SCAN = 1800; extern const float ang_res_x = 0.2; extern const float ang_res_y = 0.427; extern const float ang_bottom = 24.9; extern const int groundScanInd = 50; ``` 2. featureAssociation.cpp Since kitti data already have removed the distortion ``` float s 10 * (pi->intensity - int(pi->intensity)); -> float s = 1; // to delete all the code that corrects point cloud distortion TransformToEnd(&cornerPointsLessSharp->points[i], &cornerPointsLessSharp->points[i]); -> removed TransformToEnd(&surfPointsLessFlat->points[i], &surfPointsLessFlat->points[i]); -> removed *Notes: The parameter "loopClosureEnableFlag" is set to "true" for SLAM. ``` 3. transformfusion.cpp To correct two diffrent TF of lego-loam results and kitti gt. And also to save the results in kitti gt format ``` From line 222 to 286, saving results code added ``` Reference : https://github.com/RobustFieldAutonomyLab/LeGO-LOAM/issues/12