The implementation for GMLO in C++ with OpenMP acceleration.
Please prepared the point cloud files in KITTI Odometry dataset and unzip them. Then edit the line 116 of the codes kitti.cpp with your dataset storage directory.
PCLOpenMPSophusEigenPlease note that the codes are developed with Ubuntu 22.04 environments, the libs are with the default version of the system.
For the Voxel-to-Voxel GICP, please refer to gicp_mp.hpp and gicp_mp.cpp, which is used as the base method for Scan-to-Mapping.
The PR-GPF algorithm is implemented with polar_region_gpf.hpp and polar_region_gpf.cpp.
The joint-matching process is implemented in joint_matching.cpp with Gauss-Newton optimization method.
Kaiduo FANG - [email protected]
Ivan Wang-Hei Ho - [email protected]
This project is licensed under the MIT License - see the LICENSE file for details.