/FAST_LIO_MeiyuanXiang

FAST_LIO相关论文、代码中文注释以及代码改动

Primary LanguageC++

FAST_LIO_MeiyuanXiang

FAST_LIO相关论文、代码中文注释以及代码改动

参考

https://github.com/hku-mars/FAST_LIO
https://github.com/gisbi-kim/FAST_LIO_SLAM

环境

  1. Ubuntu（测试了Ubuntu16.04.5、Ubuntu18.04）
  2. ROS (测试了kinetic、melodic)
  3. PCL（测试了pcl1.9）
  4. Eigen（测试了Eigen3.3.4）
  5. livox_ros_driver

编译

  1. 下载源码 git clone https://github.com/MeiyuanXiang/FAST_LIO_MeiyuanXiang.git
  2. 将FAST_LIO_MeiyuanXiang\src下的FAST_LIO或FAST_LIO_SLAM拷贝到ros工程空间src文件夹内，例如~/catkin_ws/src/
  3. cd ~/catkin_ws
  4. catkin_make
  5. source ~/catkin_ws/devel/setup.bash

Bag数据

链接：https://pan.baidu.com/s/1vaW3FSDyINF4m1MU6O08RA
提取码：qx9x
2020-09-16-quick-shack.bag、10hz_2020-07-25-17-36-51.bag和HKU_MB_2020-09-20-13-34-51.bag

MulRan数据

https://sites.google.com/view/mulran-pr/download

运行

  1. Livox Avia直连
    roslaunch fast_lio mapping_avia.launch
    roslaunch livox_ros_driver livox_lidar_msg.launch
  2. 室内场景数据
    roslaunch fast_lio mapping_avia.launch
    rosbag play 2020-09-16-quick-shack.bag
    或rosbag play 10hz_2020-07-25-17-36-51.bag
  3. 室外场景数据
    roslaunch fast_lio mapping_avia.launch
    rosbag play HKU_MB_2020-09-20-13-34-51.bag
  4. FAST-LIO2对MulRan数据集
    roslaunch fast_lio mapping_ouster64_mulran.launch # setting for MulRan dataset
  5. SC-PGO对MulRan数据集
    roslaunch aloam_velodyne fastlio_ouster64.launch # setting for MulRan dataset

对于MulRan数据集的播放，打开新的终端，使用file_player_mulran播放MulRan数据(详情请参考：https://github.com/irapkaist/file_player_mulran)