liorf
This repo is modified based on LIO_SAM, which remove the feature extraction module and makes it easier to adapt your sensor.
File Explorer
Download Latest Version (.zip)- kitti2bag.py
- README.md
- demo.gif
- device-boat.png
- device-hand-2.png
- device-hand.png
- device-jackal.png
- device-livox-horizon.png
- gps-demo.gif
- imu-debug.gif
- imu-transform.png
- kitti-demo.gif
- kitti-map.png
- livox-demo.gif
- loop-closure-2.gif
- loop-closure.gif
- ouster-demo.gif
- ouster-device.jpg
- paper.pdf
- system.png
- kitti.yaml
- lio_sam_default.yaml
- lio_sam_identity.yaml
- lio_sam_livox.yaml
- lio_sam_ouster.yaml
- M2DGR.yaml
- mulran.yaml
- ubran_hongkong.yaml
- kitti.gif
- kitti01_ape.png
- kitti01_rpe.png
- kitti01_trajec.png
- kitti05_ape.png
- kitti05_rpe.png
- kitti05_trajec.png
- lio_sam_livox_data.gif
- mulran_traj.png
- ubran_hongkong.gif
- KDTreeVectorOfVectorsAdaptor.h
- nanoflann.hpp
- Scancontext.cpp
- Scancontext.h
- tictoc.h
- utility.h
- robot.urdf.xacro
- rviz.rviz
- rosconsole_error.conf
- rosconsole_info.conf
- rosconsole_warn.conf
- module_loam.launch
- module_navsat.launch
- module_robot_state_publisher.launch
- module_rviz.launch
- run_kitti.launch
- run_lio_sam_default.launch
- run_lio_sam_identity.launch
- run_lio_sam_livox.launch
- run_lio_sam_ouster.launch
- run_M2DGR.launch
- run_mulran.launch
- run_ubran_hongkong.launch
- common_lib.cpp
- common_lib.h
- cloud_info.msg
- imageProjection.cpp
- imuPreintegration.cpp
- mapOptmization.cpp
- save_map.srv
- CMakeLists.txt
- LICENSE
- package.xml
- README.md
๐ Installation Guide
git clone https://github.com/YJZLuckyBoy/liorf
Downloads the entire project code from GitHub to your computer.
cd liorf
Moves into the project folder you just downloaded.
2. Official Install Script
Easy Recommended- APT (Debian/Ubuntu ๊ณ์ด) Built into Debian/Ubuntu-based Linux distributions.
sudo apt install libgtsam-dev libgtsam-unstable-dev
Installs directly from the APT package repository (Debian/Ubuntu-based).
sudo apt install libgeographic-dev
Installs directly from the APT package repository (Debian/Ubuntu-based).
sudo apt-get install -y ros-kinetic-navigation
Installs directly from the APT package repository (Debian/Ubuntu-based).
sudo apt-get install -y ros-kinetic-robot-localization
Installs directly from the APT package repository (Debian/Ubuntu-based).
Pulled directly from this repo's README.
3. CMake
Mediummkdir build && cd build
Creates a folder to hold the build output and moves into it.
cmake ..
Analyzes the source code and generates build configuration files (must be run inside the build folder).
make
Compiles the code based on the generated build configuration to produce an executable.