A summary of Livox-related SLAM-application: compiling and execution
-
Single-LiDAR: LiLi-OM, LIO-SAM, Loam-Livox, FAST-LIO 1&2, Faster-LIO, LIO-Livox, Livox-mapping, DLO, DLIO,Point-LIO, BALM, VoxelMap, VoxelMap++, PV-LIO, and ImMesh.
-
Multi-LiDARs: FAST-LIO-MULTI
video1
: LIO-SAM vs FAST-LIO2video2
: FAST-LIO2 vs Livox-mapping vs LOAM-Livox usingLivox Mid-70 LiDAR
, real-worldvideo3
: FAST-LIO2 in the building with narrow stairs usingOuster OS0-128
, real-worldvideo4
: FAST-LIO2 in the narrow tunnels usingOuster OS0-128
on the UAV (drone)video5
: Faster-LIO vs FAST-LIO in the building with narrow stairs usingOuster OS0-128
, real-worldvideo6
: VoxelMap in the building usingIntel Realsense L515
, real-worldvideo7
: R3LIVE in the building and around the building usingLivox Mid-70 LiDAR
,FLIR Blackfly S
,Pixhawk4 mini
, real-worldvideo8
: FAST-LIO2 vs Ada-LIO vs Point-LIO vs KISS-ICP in the building with narrow stairs, real-worldvideo9
: FAST-LIO2 vs Ada-LIO in Gazebo challenging environmentsvideo10
: DLO vs FAST-LIO2video11
: DLO vs DLIO vs Ada-LIO vs FAST-LIO2video12
: Ada-LIO vs PV-LIO vs SLAMeshvideo13
: Ada-LIO vs PV-LIOvideo14
: Ada-LIO vs ImMesh
video15
: FAST-LIO-MULTI bundle update vs asynchronous update
- Common packages
sudo apt-get install -y ros-noetic-navigation ros-noetic-robot-localization ros-noetic-robot-state-publisher
- GTSAM for
LVI-SAM
andLIO-SAM
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 -DGTSAM_USE_SYSTEM_EIGEN=ON ..
sudo make install -j8
- Ceres solver for
LVI-SAM
andSLAMesh
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 #LVI-SAM
wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz #SLAMesh
tar zxf ceres-solver-1.14.0.tar.gz #LVI-SAM
tar zxf ceres-solver-2.1.0.tar.gz #SLAMesh
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
glog
,g++-9
andgcc-9
forFaster-LIO
sudo apt-get install libgoogle-glog-dev
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9 g++-9
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9
cd ~/catkin_ws/src
git clone https://github.com/KIT-ISAS/lili-om
cd ..
catkin build livox_ros_driver
catkin build lili_om
catkin build lili_om_rot
cd ~/your_workspace/src
git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
cd ~/your_workspace/src
git clone https://github.com/hku-mars/loam_livox.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
● You can test the livox horizon or hap with livox-horizon-loam.
cd ~/your_workspace/src
git clone https://github.com/hku-mars/FAST_LIO.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
cd ~/your_workspace/src
git clone https://github.com/gaoxiang12/faster-lio.git
cd faster-lio/thirdparty
tar -xvf tbb2018_20170726oss_lin.tgz
cd ~/your_workspace
catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb2018_20170726oss -DCMAKE_BUILD_TYPE=Release
cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/LIO-Livox.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
cd ~/your_workspace/src
git clone https://github.com/PJLab-ADG/Livox-Mapping.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
cd ~/your_workspace/src
git clone https://github.com/hku-mars/BALM.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
git clone https://github.com/hku-mars/VoxelMap.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
git clone https://github.com/uestc-icsp/VoxelMapPlus_Public.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver
git clone https://github.com/HViktorTsoi/PV-LIO
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
sudo apt install libomp-dev libpcl-dev libeigen3-dev
cd ~/your_workspace/src
git clone https://github.com/vectr-ucla/direct_lidar_odometry.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
sudo apt install libomp-dev libpcl-dev libeigen3-dev
cd ~/your_workspace/src
git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
cd ~/your_workspace/src
git clone https://github.com/hku-mars/Point-LIO.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver
git clone https://github.com/engcang/FAST_LIO_MULTI
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
sudo apt-get install ros-noetic-cv-bridge ros-noetic-tf ros-noetic-message-filters ros-noetic-image-transport*
sudo apt-get install -y libcgal-dev pcl-tools libgl-dev libglm-dev libglfw3-dev libglew-dev libglw1-mesa-dev libxkbcommon-x11-dev
sudo apt-get install -y libxinerama-dev
cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver
catkin_make
cd ~/your_workspace/src
git clone https://github.com/hku-mars/ImMesh
cd ..
catkin_make