Ring FALS Normal Estimator

A real-time normal estimator for spinning LiDAR.

Related Works

LOG-LIO: A LiDAR-inertial Odometry with Efficient Local Geometric Information Estimation

Related video: Ring FALS

Tested under Ubuntu 16.04 with opencv3.3.1 and Ubuntu 18.04 with opencv3.2.0. Output point cloud with the topic "cloud_normal".

mkdir -p ws_ring_fals/src
cd ws_ring_fals/src
git clone https://github.com/tiev-tongji/RingFalsNormal

set OpenCV_DIR in the CMakeLists.txt to your local path, and please compile the opencv-contrib module in advance.

cd .. & catkin_make

source devel/setup.bash
roslaunch ring_fals normal_m2dgr.launch

So far, we have only provided launch files for M2DGR and NTU VIRAL, a more detailed readme is coming soon!

Name		Name	Last commit message	Last commit date
Latest commit History 10 Commits
config		config
fig		fig
include		include
launch		launch
rviz_cfg		rviz_cfg
src		src
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md
package.xml		package.xml