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4_9

Octree & Octomap & Bonxai

  • Load a lidar point cloud datum from KITTI dataset
  1. Perform octree-based nearest neighbor search
  2. Make voxel map based on Octomap library
  3. Fast voxel mapping using Bonxai library, and visualize the map

How to build & run

Requirement: PCL, Octomap

Local build

mkdir build && cd build
cmake ..
make -j
./octree
./octomap_kitti

Docker build

Requires base build

docker build . -t slam:4_9
docker run -it --env DISPLAY=$DISPLAY -v `pwd`/results:/fastcampus_slam_codes/4_9/results -v /tmp/.X11-unix/:/tmp/.X11-unix:ro slam:4_9

# Inside docker container
cd fastcampus_slam_codes/4_9
./build/octree
./build/octomap_kitti

Output

Octree

Octomap


Fast voxel mapping using Bonxai library

How to build & run

docker build . -f Dockerfile_bonxai -t slam:4_9_bonxai
docker run -it --env DISPLAY=$DISPLAY -v /kitti:/data -v /tmp/.X11-unix/:/tmp/.X11-unix:ro slam:4_9_bonxai

# Inside container
cd Bonxai/build/bonxai_map/benchmark
./benchmark_kitti --clouds /data/sequences/00/velodyne/ --calib /data/sequences/00/calib.txt --poses /data/poses/00.txt 
exit

# Outside container
docker cp <container_id>:/Bonxai/build/bonxai_map/benchmark/bonxai_result.pcd ./results/bonxai_result.pcd

# Visualization
pip3 install open3d numpy
python3 pcd_viewer.py ./results/bonxai_result.pcd

Output