# W-LOAM: Lidar Odometry and Mapping in Real-time ###### tags: `ROS` ---- ## 演算法介紹 - 原始架構 - [Github - loam_velodyne](https://github.com/laboshinl/loam_velodyne) - 架構解析 - [LOAM-SLAM原理深度解析](https://zhuanlan.zhihu.com/p/111388877) - [LOAM原始碼分析附公式推導](https://zhuanlan.zhihu.com/p/263090394) - [LOAM程式碼解析](https://blog.csdn.net/weixin_44041199/category_10641199.html) - [LOAM 论文及原理分析](https://blog.csdn.net/liuyanpeng12333/article/details/82718277) ## 指令 - 啟動指令 ``` roslaunch loam_velodyne loam_velodyne.launch ``` - 二選一，執行錄好的rosbag ``` rosbag play ~/Downloads/velodyne.bag roslaunch velodyne_pointcloud VLP16_points.launch pcap:="$HOME/Downloads/velodyne.pcap" ``` - [儲存pointcloud](https://blog.csdn.net/qq_36396941/article/details/83048415) ## 錄製pointcloud - 建圖 ``` roslaunch loam_velodyne loam_velodyne.launch roslaunch velodyne_pointcloud VLP16_points.launch rosbag record -o out /laser_cloud_surround ``` - 建立pointcloud ``` rosrun pcl_ros bag_to_pcd <input.bag> /laser_cloud_surround pcd pcl_viewer <xxx.pcd> ```