将faster-lio/CMakeLists.txt 文件的第15行注释掉 add_subdirectory(thirdparty/livox_ros_driver)改为#add_subdirectory(thirdparty/livox_ros_driver) 再次编译 [100%] Linking CXX shared library /home/jk-jone/jone_ws/devel/lib/libfaster_lio.so [100%] ...
livox_ros_driver/livox_ros_driver/CMakeLists.txt:46 (generate_messages) 如果工作空间中之前编译了 livox_ros_driver 的功能包,则需要删掉 faster-lio/thirdparty/livox_ros_driver 这个文件夹 再次编译 CMake Error at faster-lio/CMakeLists.txt:15 (add_subdirectory): add_subdirectory given source “thi...
/bin/sh: 1: /usr/bin/c++: not found /bin/sh: 1: /usr/bin/c++: not found src/CMakeFiles/faster_lio.dir/build.make:86: recipe for target 'src/CMakeFiles/faster_lio.dir/pointcloud_preprocess.cc.o' failed make[2]: *** [src/CMakeFiles/faster_lio.dir/pointcloud_preprocess.cc.o]...
S-FAST_LIO源码 解读 解读2 激光SLAM Faster-LIOFAST-LIO2的改进点主要在第一个版本上增加了ikd-tree和去除了特征匹配,采用直接匹配的方式构建残差。直接将原始点注册到地图上然后更新地图,而不提取特征。这样可…
ROS (melodic or noetic) glog: sudo apt-get install libgoogle-glog-dev eigen: sudo apt-get install libeigen3-dev pcl: sudo apt-get install libpcl-dev yaml-cpp: sudo apt-get install libyaml-cpp-dev Compile FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the...
先上github地址: https://link.zhihu.com/?target=https%3A//github.com/gaoxiang12/faster-lio 还有高博发布的中文版论文地址: https://zhuanlan.zhihu.com/p/468628910 1. 安装依赖: · ROS (melodic or noetic) · glog: sudo apt-get install libgoogle-glog-dev ...
此外FAST-LIO2的状态估计是从FAST-LIO继承的紧耦合迭代卡尔曼滤波器(IEKF),FAST-LIO2的流程如下图所示,顺序采样的激光雷达原始点首先在10ms(用于100Hz更新)和100ms(用于10Hz更新)之间的时间段内累积。累积的点云称为扫描数据,为了执行状态估计,新扫描中的点云通过紧耦合迭代卡尔曼滤波框架配准到大型局部地图中...
ROS (melodic or noetic) glog:sudo apt-get install libgoogle-glog-dev eigen:sudo apt-get install libeigen3-dev pcl:sudo apt-get install libpcl-dev yaml-cpp:sudo apt-get install libyaml-cpp-dev Compile FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile...
将fast-livo视觉部分移植到faster-lio中,使用自适应体素的地图表征形式,最新版加入STD描述子检测回环并更新在分支fastlivo_voxel_std中 - faster-livo/include/voxel_octree_map/voxel_map_util.hpp at d13213976b326e7c9c58acb376196c5a2bf75335 · whu-lyh/faster-livo
Faster-Lio 是智行者高博团队和清华于 2022 年初公开的工作,论文《 Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels》已接收于 IEEE RA-Letters,代…