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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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I have been trying to use lego -LOAM for ouster os1 32 lidar to get 3d point cloud could you please give me an idea how to acheive it. #266

Open FalakFatima11 opened 1 year ago

MohammadAmmargk8497 commented 10 months ago

There are some changes that are needed to be done in order to effectively run it for OS32.

  1. First we need to modify the Utility.h file- For OS32 change the N_CHANNEL to 32 in OS64 config after uncommenting it and comment the Velodyne one.
  2. Also in utility.h change "extern const string pointCloudTopic = "/velodyne_points";" to whatever your cloud publisher name is, in case of OS32 IG its /cloud_points. (You can see the cloud publisher using the rqt graph command)
  3. Change all the "\camera_init" and "\camera" to "camera_init" and "camera", make sure to do it on all the src files.
  4. Add the required changes in the Cmakelist.txt file under src folder as mentioned by @L-Reichardt in https://github.com/RobustFieldAutonomyLab/LeGO-LOAM/issues/247.

However the IMU of Ouster is still not supported by the developers IG. So we have to rely on the visual features only, this may deteriorate the accuracy of the system.