SCL-SLAM

A Scan Context-enabled LiDAR SLAM Using Factor Graph-Based Optimization.

Prerequisites

• CMake (compilation configuration tool)

sudo apt-get install cmake

• Boost (portable C++ source libraries)

sudo apt-get install libboost-all-dev

• GTSAM (Georgia Tech Smoothing and Mapping library)

Install during the compilation.

• Distributed-Mapper (Georgia Tech, MIT and Army Research Lab)

Install during the compilation.

• Python (required system packages)

sudo apt-get install python-wstool python-catkin-tools

Compilation

Set up the workspace configuration:

mkdir -p ~/scl_slam_ws/src
cd ~/scl_slam_ws
catkin init
catkin config --merge-devel
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

Then use wstool for fetching catkin dependencies:

cd src
git clone https://github.com/thisparticle/scl_slam.git
git clone https://github.com/thisparticle/fast-lio.git
wstool init
wstool merge dlc-slam/dependencies.rosinstall
wstool update

Build

catkin build dlc_fast_lio