● video
: Lego-LOAM vs LIO-SAM vs LVI-SAM
● video2
: LIO-SAM vs LVI-SAM
● video3
: LIO-SAM vs FAST-LIO2
● video4
: FAST-LIO2 vs Livox-mapping vs LOAM-Livox using Livox Mid-70 LiDAR
, real-world
● video5
: FAST-LIO2 in the building with narrow stairs using Ouster OS0-128
, real-world
● video6
: FAST-LIO2 in the narrow tunnels using Ouster OS0-128
on the UAV (drone)
- Dependencies
$ sudo apt-get install -y ros-melodic-navigation ros-melodic-robot-localization ros-melodic-robot-state-publisher
$ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
$ unzip gtsam.zip
$ cd gtsam-4.0.2/
$ mkdir build && cd build
$ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
$ sudo make install -j8
- Ceres solver only for
LVI-SAM
$ sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
$ wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
$ tar zxf ceres-solver-1.14.0.tar.gz
$ mkdir ceres-bin
$ mkdir solver && cd ceres-bin
$ cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver" #good for build without being root privileged and at wanted directory
$ make -j8 # 8 : number of cores
$ make test
$ make install
$ cd ~/your_workspace/src
$ git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
$ cd ..
$ catkin build
$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LIO-SAM.git
$ cd ..
$ catkin build
$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LVI-SAM.git
$ cd ..
$ catkin build
- for
OpenCV 4.X
, editLVI-SAM/src/visual_odometry/visual_loop/ThirdParty/DVision/BRIEF.cpp:53
// cv::cvtColor(image, aux, CV_RGB2GRAY);
cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);
$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build
$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/FAST_LIO.git
$ cd ..
$ catkin build
Trouble shooting for Gazebo Velodyne plugin
- When using
CPU ray
, instead ofGPU ray
, height - width should be interchanged, I used this script file