dzsho / icp_svd

This assignment aims to implement the classical laser mileage calculation method ICP/NDT.

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Build

catkin_make

Launch

# set up session:
source install/setup.bash
# launch:
roslaunch lidar_localization front_end.launch

Build

# play ROS bag (for example KITTI):
rosbag play YOUR_BAG #kitti_2011_10_03_drive_0027_synced.bag

cd /workspace/assignments/02-lidar-odometry-basic/src/lidar_localization/slam_data/trajectory

该目录下会输出:

• Ground Truth的RTK轨迹估计, ground_truth.txt
• Lidar Frontend的轨迹估计, laser_odom.txt

使用上述两个文件, 完成evo的评估

此处轨迹会有较大的偏移. 在后续的学习中, 你会了解如何修复这个偏移, 获得更好的轨迹估计.