MeiyuanXiang / r2live_MeiyuanXiang

r2live相关论文、代码中文注释以及代码改动

r2live_MeiyuanXiang

r2live相关论文、代码中文注释以及代码改动

参考

https://github.com/hku-mars/r2live

环境

1. Ubuntu（测试了Ubuntu16.04.5、Ubuntu18.04）
2. ROS (测试了kinetic、melodic)
3. Ceres Solver（测试ceres-solver-1.14.0）
4. Eigen（测试了Eigen3.3.4）
5. livox_ros_driver

编译

1. 下载源码 git clone https://github.com/MeiyuanXiang/r2live_MeiyuanXiang.git
2. 将r2live_MeiyuanXiang\src下的r2live拷贝到ros工程空间src文件夹内，例如~/catkin_ws/src/
3. cd ~/catkin_ws
4. catkin_make
5. source ~/catkin_ws/devel/setup.bash

Bag数据

https://drive.google.com/drive/folders/1LpoX6_05Zic-mRLOD38EO0w2ABXI1rrW harbor.bag、hku_main_building.bag和indoor_aggressive.bag

运行

roslaunch r2live demo.launch
rosbag play harbor.bag