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1.首先从GitHub - nkymzsy/LIO-SAM-MID360 at Livox-ros-driver2 下载能支持mid360的lio-sam版本到 ws_livox/src中#xff0c;直接编译#xff0c;就可以成功。
2.使用
roslaunch lio_sam run6axis.launch以及播之前我才记得Mid360的包#x…一、使用mid360配置lio-sam
1.首先从GitHub - nkymzsy/LIO-SAM-MID360 at Livox-ros-driver2 下载能支持mid360的lio-sam版本到 ws_livox/src中直接编译就可以成功。
2.使用
roslaunch lio_sam run6axis.launch以及播之前我才记得Mid360的包就可以到结果。
最终可以重建出来了三维场景但是在重建过程中一卡一卡的不知道是啥问题。 二、point-lio
下载并编译point-lio
cd src
git clone https://github.com/hku-mars/Point-LIO.git
cd ..
catkin_make src/config 文件夹下添加的 mid360.yaml 文件配置:
common:lid_topic: /livox/lidar imu_topic: /livox/imu con_frame: false # true: if you need to combine several LiDAR frames into onecon_frame_num: 1 # the number of frames combinedcut_frame: false # true: if you need to cut one LiDAR frame into several subframescut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequencytime_lag_imu_to_lidar: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme)# the timesample of IMU is transferred from the current timeline to LiDARs timeline by subtracting this valuepreprocess:lidar_type: 1 scan_line: 4timestamp_unit: 1 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.blind: 0.5 mapping:imu_en: truestart_in_aggressive_motion: false # if true, a preknown gravity should be provided in following gravity_initextrinsic_est_en: false # for aggressive motion, set this variable falseimu_time_inte: 0.005 # 1 / frequency of IMUsatu_acc: 3.0 # the saturation value of IMUs acceleration. not related to the unitssatu_gyro: 35 # the saturation value of IMUs angular velocity. not related to the unitsacc_norm: 1.0 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMUs accelerationlidar_meas_cov: 0.001 # 0.001; 0.01acc_cov_output: 500gyr_cov_output: 1000 b_acc_cov: 0.0001 b_gyr_cov: 0.0001 imu_meas_acc_cov: 0.1 #0.1 # 0.1imu_meas_omg_cov: 0.1 #0.01 # 0.1gyr_cov_input: 0.01 # for IMU as input modelacc_cov_input: 0.1 # for IMU as input modelplane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a planematch_s: 81fov_degree: 360 det_range: 100gravity_align: true # true to align the z axis of world frame with the direction of gravity, and the gravity direction should be specified belowgravity: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # gravity to be alignedgravity_init: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # # preknown gravity in the first IMU body frame, use when imu_en is false or start from a non-stationary stateextrinsic_T: [ -0.011, -0.02329, 0.04412 ]extrinsic_R: [ 1, 0, 0,0, 1, 0,0, 0, 1 ]odometry: publish_odometry_without_downsample: falsepublish:path_en: true # false: close the path outputscan_publish_en: true # false: close all the point cloud outputscan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-framepcd_save:pcd_save_en: falseinterval: -1 # how many LiDAR frames saved in each pcd file; # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. src/launch 文件夹下添加 mapping_mid360.launch 文件
launch
!-- Launch file for Livox AVIA LiDAR --arg namerviz defaulttrue /node pkgpoint_lio typepointlio_mapping namelaserMapping outputscreenrosparam commandload file$(find point_lio)/config/mid360.yaml /param nameuse_imu_as_input typebool value1/ !--change to 1 to use IMU as input of Point-LIO--param nameprop_at_freq_of_imu typebool value1/param namecheck_satu typebool value1/param nameinit_map_size typeint value10/param namepoint_filter_num typeint value1/ !--4, 3-- param namespace_down_sample typebool value1 / param namefilter_size_surf typedouble value0.3 / !--0.5, 0.3, 0.2, 0.15, 0.1-- param namefilter_size_map typedouble value0.2 / !--0.5, 0.3, 0.15, 0.1--param namecube_side_length typedouble value2000 / !--1000--param nameruntime_pos_log_enable typebool value0 / !--1--/nodegroup if$(arg rviz)node launch-prefixnice pkgrviz typerviz namerviz args-d $(find point_lio)/rviz_cfg/loam_livox.rviz //grouplaunch-prefixgdb -ex run --args/launch
最后用mid360采集的数据集得到重建的结果 三、faster-lio
Ubuntu18.04 Faster_lio 环境搭建与运行全过程记录_在ubuntu18.04上安装以及运行faster-lio-CSDN博客
由于要把gcc升级到版本9害怕升级后原有的代码会出现错误因此暂时这个先不做实验了。也先不安装和配置了。
