SC-CT-ICP

Run the code

execute roslaunch sc_ct_icp sc_ct_icp.launch:

• node pub_pcd is used to read .bin KITTI point cloud, poses and corresponding time sequences and publish it to the scan context node below.
• node SC_PGO is the scan context node which will do the loop detection and closure work.
• node log_sc_cticp is to log the loop closured poses.

Notice

in the repository, we don't provide the code of ct_icp since I assume you have the poses and point clouds prepared.