LOAM converter to HDMapping

Hint

Please change branch to Bunker-DVI-Dataset-reg-1 for quick experiment.

Example Dataset:

Download the dataset from Bunker DVI Dataset

Intended use

This small toolset allows to integrate SLAM solution provided by loam-livox with HDMapping. This repository contains ROS 1 workspace that :

• submodule to tested revision of Loam livox
• a converter that listens to topics advertised from odometry node and save data in format compatible with HDMapping.

Dependencies

sudo apt install -y nlohmann-json3-dev

Modified for build

Changes made:

File:

test_ws/src/loam-livox-to-hdmapping/src/loam_livox/source/read_camera.cpp

 cap.set(CV_CAP_PROP_SETTINGS, 1); //opens camera properties dialog
 cap.set( CV_CAP_PROP_FRAME_WIDTH, 320 );
 cap.set( CV_CAP_PROP_FRAME_HEIGHT, 240 );

 CHANGED TO:

 cap.set(cv::CV_CAP_PROP_SETTINGS, 1); //opens camera properties dialog
 cap.set( cv::CV_CAP_PROP_FRAME_WIDTH, 320 );
 cap.set( cv::CV_CAP_PROP_FRAME_HEIGHT, 240 );

 test_ws/src/loam-livox-to-hdmapping/src/loam_livox/source/laser_feature_extractor.hpp

 #include <opencv/cv.h>

 CHANGED TO:

 #include <opencv2/opencv.hpp>

## Building

Clone the repo
```shell
mkdir -p /test_ws/src
cd /test_ws/src
git clone https://github.com/marcinmatecki/loam-livox-to-hdmapping --recursive
cd ..
catkin_make

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal record bag:

rosbag record /velodyne_cloud_registered /aft_mapped_to_init

and start odometry:

cd /test_ws/
source ./install/setup.sh # adjust to used shell
For launch,check https://github.com/hku-mars/loam_livox/

Usage - conversion:

cd /test_ws/
source ./install/setup.sh # adjust to used shell
rosrun loam-to-hdmapping listener <recorded_bag> <output_dir>

Record the bag file:

rosbag record /velodyne_cloud_registered /aft_mapped_to_init -O {your_directory_for_the_recorded_bag}

LOAM Launch:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch loam_livox livox.launch
rosbag play sequence.bag --clock /pp_points/synced2rgb:=/livox/lidar

During the record (if you want to stop recording earlier) / after finishing the bag:

In the terminal where the ros record is, interrupt the recording by CTRL+C
Do it also in ros launch terminal by CTRL+C.

Usage - Conversion (ROS bag to HDMapping, after recording stops):

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
rosrun loam-to-hdmapping listener <recorded_bag> <output_dir>