PyLOAM is implemented based on LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time).
- Python 3.6.9
- Numpy 1.19.1
- Open3D 0.10.0.0
- pypcd 0.1.1
Currently I convert scans to .npy files.
python3 src/main_loam.py --npy_path ${DATA_PATH}
Many stuff are still under development:
- Configuration class
- Visualization
- Evaluation
Mapped feature points from NSH indoor outdor dataset.
