/point_lio_sam

ME5400Aproject

Primary LanguageC++OtherNOASSERTION

Point-LIO-SAM

  • This package is a combination of Point-LIO and LIO-SAM for unitree lidar L1.


KITTI seq 05 top view - (left): FAST-LIO2 (right): FAST-LIO-SAM


KITTI seq 05 side view - (top): FAST-LIO2 (bottom): FAST-LIO-SAM


KITTI seq 05 trajectories - (blue): FAST-LIO2 (green): FAST-LIO-SAM


Note

  • For better loop-detection and transform calculation, FAST-LIO-SAM-QN is also coded and opened.
    • It adopts Quatro - fast, accurate and robust global registration which provides great initial guess of transform
    • and Nano-GICP - fast and accurate ICP combining FastGICP + NanoFLANN

Dependencies

  • ROS (it comes with Eigen and PCL)
  • GTSAM 
    wget -O gtsam.zip https://github.com/borglab/gtsam/archive/refs/tags/4.1.1.zip
unzip gtsam.zip
cd gtsam-4.1.1/
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
sudo make install -j16

How to build and use

  • Get the code and build 
    cd ~/your_workspace/src
git clone https://github.com/engcang/FAST-LIO-SAM --recursive

cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
. devel/setup.bash
  • Then run (change config files in third_party/FAST_LIO) 
    roslaunch fast_lio_sam run.launch lidar:=ouster
roslaunch fast_lio_sam run.launch lidar:=velodyne
roslaunch fast_lio_sam run.launch lidar:=livox

Structure

  • odom_pcd_cb
    • pub realtime pose in corrected frame
    • keyframe detection -> if keyframe, add to pose graph + save to keyframe queue
    • pose graph optimization with iSAM2
  • loop_timer_func
    • process a saved keyframe
      • detect loop -> if loop, add to pose graph
  • vis_timer_func
    • visualize all (Note: global map is only visualized once uncheck/check the mapped_pcd in rviz to save comp.)