LVI-SAM
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
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Download Latest Version (.zip)- stale.yml
- brief_k10L6.bin
- brief_pattern.yml
- extrinsic_parameter_example.pdf
- fisheye_mask_720x540.jpg
- params_camera.yaml
- params_lidar.yaml
- demo.gif
- handheld-earth.png
- jackal-earth.png
- paper.pdf
- sensor.jpeg
- docker_start.md
- Dockerfile
- ros_entrypoint.sh
- robot.urdf.xacro
- rviz.rviz
- rosconsole_error.conf
- rosconsole_info.conf
- rosconsole_warn.conf
- module_robot_state_publisher.launch
- module_rviz.launch
- module_sam.launch
- run.launch
- cloud_info.msg
- featureExtraction.cpp
- imageProjection.cpp
- imuPreintegration.cpp
- mapOptmization.cpp
- utility.h
- imu_factor.h
- integration_base.h
- marginalization_factor.cpp
- marginalization_factor.h
- pose_local_parameterization.cpp
- pose_local_parameterization.h
- projection_factor.cpp
- projection_factor.h
- projection_td_factor.cpp
- projection_td_factor.h
- initial_aligment.cpp
- initial_alignment.h
- initial_ex_rotation.cpp
- initial_ex_rotation.h
- initial_sfm.cpp
- initial_sfm.h
- solve_5pts.cpp
- solve_5pts.h
- CameraPoseVisualization.cpp
- CameraPoseVisualization.h
- tic_toc.h
- utility.cpp
- utility.h
- visualization.cpp
- visualization.h
- estimator.cpp
- estimator.h
- estimator_node.cpp
- feature_manager.cpp
- feature_manager.h
- parameters.cpp
- parameters.h
- Camera.cc
- Camera.h
- CameraFactory.cc
- CameraFactory.h
- CataCamera.cc
- CataCamera.h
- CostFunctionFactory.cc
- CostFunctionFactory.h
- EquidistantCamera.cc
- EquidistantCamera.h
- gpl.cc
- gpl.h
- PinholeCamera.cc
- PinholeCamera.h
- ScaramuzzaCamera.cc
- ScaramuzzaCamera.h
- feature_tracker.cpp
- feature_tracker.h
- feature_tracker_node.cpp
- parameters.cpp
- parameters.h
- tic_toc.h
- BowVector.cpp
- BowVector.h
- DBoW2.h
- FBrief.cpp
- FBrief.h
- FClass.h
- FeatureVector.cpp
- FeatureVector.h
- QueryResults.cpp
- QueryResults.h
- ScoringObject.cpp
- ScoringObject.h
- TemplatedDatabase.h
- TemplatedVocabulary.h
- DException.h
- DUtils.h
- Random.cpp
- Random.h
- Timestamp.cpp
- Timestamp.h
- BRIEF.cpp
- BRIEF.h
- DVision.h
- VocabularyBinary.cpp
- VocabularyBinary.hpp
- keyframe.cpp
- keyframe.h
- loop_detection.cpp
- loop_detection.h
- loop_detection_node.cpp
- parameters.h
- CMakeLists.txt
- LICENSE
- package.xml
- README.md
# Installation Guide
1. Get the code
git clone https://github.com/TixiaoShan/LVI-SAM
Downloads the entire project code from GitHub to your computer.
cd LVI-SAM
Moves into the project folder you just downloaded.
2. Official Install Script
Easy RecommendedPrerequisites
- APT (Debian/Ubuntu κ³μ΄) 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-get install -y libgoogle-glog-dev
Installs directly from the APT package repository (Debian/Ubuntu-based).
sudo apt-get install -y libatlas-base-dev
Installs directly from the APT package repository (Debian/Ubuntu-based).
After installing, open a new terminal and run the program's version command (e.g. --version) to confirm it worked.
Pulled directly from this repo's README.
3. Docker
EasyPrerequisites
- Git Needed to download the project code from GitHub.
- Docker Desktop Needed to build and run containers. Install it and keep it running in the background.
docker build -f docker/Dockerfile -t lvi-sam .
Builds a runnable image based on the Dockerfile.
docker run -p 8080:80 lvi-sam
Runs the built image as an actual container.
Run docker compose ps to check the containers are Up. If the README mentions a port, open http://localhost:PORT in your browser.
4. CMake
MediumPrerequisites
cmake ..
Analyzes the source code and generates build configuration files (must be run inside the build folder).
Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).
Pulled directly from this repo's README.
// repository documentation
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