rosbag play YOUR_DOWNLOADED.bag如果你把FAST-LIVOv2中的config/avia.yaml中的参数pcd_save.pcd_save_en设置为true,那么你可以在FAST-LIVO2/Log/PCD/文件夹下,发现保存好的pcd文件。如果你设置pcd_save.colmap_output_en为true,那么你可以在FAST-LIVO2/Log/
首先运行解压命令:unzip catkin_ws_fastlivo2-20250524.zip然后进入工作空间进行编译:cd catkin_ws_fastlivo2source /opt/ros/noetic/setup.bashcatkin_make 成功编译Fast-livo2 三 修改相关配置文件在运行Fast-Livo2之前,我先将自己设备中的相机的内参和外参写入到Fast-Livo2配置文件,来适配自己的硬件。进入catki...
FAST-LIVO2: 高效鲁棒的激光雷达-惯性-视觉融合算法,可用于实时高精度三维重建,无人机和机器人在退化场景的机载定位。 2678 0 01:22 App FAST-LIVO2复现成功,效果惊艳! 4.9万 6 06:48 App 《ROS 2机器人开发从入门到实践》课程介绍 9210 1 01:29 App Fast-LIO2-BA:基于Fast-LIO2改进,改善z轴漂移,...
基于ROS1平台,整个流程是while循环,循环体内的流程以VIO和LIO迭代交替循环执行(如图1所示),这也是error state iterated kalman filter (ESIKF)的实现所需要的逻辑。 1、数据同步(sync_packages函数),如图…
catkin_make -DCATKIN_WHITELIST_PACKAGES="fast_livo" roslaunch fast_livo mapping_D455.launch catkin_make -DCATKIN_WHITELIST_PACKAGES="lidar_imu_init" ### r2live ### catkin_make -DCATKIN_WHITELIST_PACKAGES="camera_model" catkin_make -DCATKIN_WHITELIST_PACKAGES="feature_tracker...
fatal error: fast_livo/States.h: 没有那个文件或目录 同时要注意在/src/rgp_vikit/vikit_common/CMakeLists.txt.加入下面一句 SET(Sophus_LIBRARIES libSophus.so) 需要先确保Vikit安装成功才可以哈～ roslaunch fast_livo mapping_avia.launch 测试效果 hku1 hku2 Visual_Challenge LiDAR_Degenerate 版权...
最近文章《Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry》提出了FAST-LIVO,这是一种快速LiDAR惯性-视觉里程计系统,它建立在两个紧耦合的直接里程计子系统之上:VIO子系统和LIO子系统。LIO子系统将新扫描的原始点(而不是边缘或平面上的特征点)添加到增量构建的点云地图...
ros::Time timeLaserInfoStamp = ros::Time().fromSec(lidar_end_time); // 时间戳 string odometryFrame = "camera_init"; if (cloudKeyPoses3D->points.empty() == true) { return; } mtx.lock(); *copy_cloudKeyPoses3D = *cloudKeyPoses3D; ...
cd ~/catkin_ws/src git clone https://github.com/hku-mars/FAST-LIVO2 cd ../ catkin_make source ~/catkin_ws/devel/setup.bash 4. Run our examples Download our collected rosbag files via OneDrive (FAST-LIVO2-Dataset). roslaunch fast_livo mapping_avia.launch rosbag play YOUR_DOWNLOADED....
cd ~/catkin_ws/src git clone https:///hku-mars/FAST-LIVO cd ../ catkin_make source ~/catkin_ws/devel/setup.bash 1. 2. 3. 4. 5. 运行 数据集下载 roslaunch fast_livo mapping_avia.launch rosbag play YOUR_DOWNLOADED.bag 1. 2. 复现效果...