├── CMakeLists.txt
├── README.md
├── assets
└── SystemOverview.png
├── backward-cpp
├── BackwardConfig.cmake
├── CMakeLists.txt
├── LICENSE.txt
├── README.md
├── backward.cpp
├── backward.hpp
├── builds.sh
└── conanfile.py
├── cmake_modules
└── FindEigen.cmake
├── lib
├── libSLIM.a
├── libScancontext.a
├── libbackward.a
├── libpmc_slim.a
├── libspmm.a
└── libsvm.a
├── modules
├── clipper.cpp
├── clipper.h
├── dbscan
│ ├── kdtree_cluster.h
│ ├── precomp_cluster.h
│ ├── simple_cluster.h
│ └── surface_cluster.h
├── extractor.cpp
├── extractor.h
├── factor
│ ├── graff_coordinate.h
│ ├── laser_edge_factor.cpp
│ ├── laser_edge_factor.h
│ ├── laser_surf_factor.cpp
│ ├── laser_surf_factor.h
│ ├── line_info.h
│ ├── local_param.cpp
│ ├── local_param.h
│ ├── marginalization_factor.cpp
│ ├── marginalization_factor.h
│ ├── math_utility.h
│ ├── prior_pose_factor.cpp
│ ├── prior_pose_factor.h
│ ├── relative_pose_factor.cpp
│ ├── relative_pose_factor.h
│ └── surface_info.h
├── frame.cpp
├── frame.h
├── json.cpp
├── json.hpp
├── landmark.cpp
├── landmark.h
├── locator.cpp
├── locator.h
├── multi_map_merger.cpp
├── multi_map_merger.h
├── nfr_solver.cpp
├── nfr_solver.h
├── observation.cpp
├── observation.h
├── pcm_solver.cpp
├── pcm_solver.h
├── scene_graph.cpp
├── scene_graph.h
├── scene_graph_node.h
├── semantic_definition.h
├── spmm
│ ├── CMakeLists.txt
│ ├── device_buffer.h
│ ├── macro.h
│ ├── spmm.cpp
│ └── spmm.h
├── transform.h
├── travel
│ ├── aos.hpp
│ └── tgs.hpp
├── utility.cpp
├── utility.h
├── vector_map.cpp
├── vector_map.h
├── viewer.cpp
├── viewer.h
├── voxel.cpp
└── voxel.h
├── test
├── cloud_visualizer.cpp
├── map_merge.cpp
├── map_visualizer.cpp
├── offline_mapping.cpp
└── relocalization.cpp
└── thirdparty
└── pmc
├── CMakeLists.txt
├── pmc.h
├── pmc_clique_utils.cpp
├── pmc_cores.cpp
├── pmc_driver.cpp
├── pmc_graph.cpp
├── pmc_graph.h
├── pmc_headers.h
├── pmc_heu.cpp
├── pmc_heu.h
├── pmc_input.h
├── pmc_lib.cpp
├── pmc_maxclique.cpp
├── pmc_maxclique.h
├── pmc_neigh_coloring.h
├── pmc_neigh_cores.h
├── pmc_utils.cpp
├── pmc_utils.h
├── pmc_vertex.h
├── pmcx_maxclique.cpp
├── pmcx_maxclique.h
├── pmcx_maxclique_basic.cpp
└── pmcx_maxclique_basic.h
/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.5)
2 | project(SLIM LANGUAGES C CXX)
3 |
4 | set(CMAKE_BUILD_TYPE "Release")
5 | set(CMAKE_CXX_FLAGS "-std=c++14 -O3 -fPIC")
6 |
7 | list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
8 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
9 |
10 | find_package(CUDAToolkit REQUIRED)
11 |
12 | include(GNUInstallDirs)
13 |
14 | # Global CXX flags/options
15 | set(CMAKE_CXX_STANDARD 14)
16 | set(CMAKE_CXX_STANDARD_REQUIRED ON)
17 | set(CMAKE_CXX_EXTENSIONS OFF)
18 |
19 | # Global CUDA CXX flags/options
20 | set(CUDA_HOST_COMPILER ${CMAKE_CXX_COMPILER})
21 | set(CMAKE_CUDA_STANDARD 14)
22 | set(CMAKE_CUDA_STANDARD_REQUIRED ON)
23 | set(CMAKE_CUDA_EXTENSIONS OFF)
24 |
25 | # Debug options
26 | set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -O0 -g")
27 | set(CMAKE_CUDA_FLAGS_DEBUG "${CMAKE_CUDA_FLAGS} -O0 -g -lineinfo")
28 |
29 | find_package(Eigen REQUIRED)
30 | find_package(Ceres REQUIRED)
31 | find_package(OpenCV REQUIRED)
32 | find_package(PCL REQUIRED)
33 | find_package(OpenMP REQUIRED)
34 | find_package(Pangolin REQUIRED)
35 | find_package(Boost REQUIRED COMPONENTS regex thread system filesystem)
36 | find_package(Boost REQUIRED COMPONENTS graph filesystem)
37 |
38 | add_definitions(-DBOOST_NO_CXX11_SCOPED_ENUMS)
39 |
40 | add_subdirectory(thirdparty/pmc)
41 | add_subdirectory(modules/spmm)
42 | add_subdirectory(backward-cpp)
43 |
44 | include_directories(
45 | ${EIGEN3_INCLUDE_DIR}
46 | ${CERES_INCLUDE_DIRS}
47 | ${PCL_INCLUDE_DIRS}
48 | ${OpenCV_INCLUDE_DIRS}
49 | ${Pangolin_INCLUDE_DIR}
50 | ${Boost_INCLUDE_DIRS}
51 | ${Boost_INCLUDE_DIRS}
52 | ${CMAKE_CURRENT_LIST_DIR}/include
53 | modules
54 | modules/factor
55 | modules/dbscan
56 | thirdparty
57 | thirdparty/pmc
58 | )
59 |
60 | add_library(SLIM
61 | modules/vector_map.cpp
62 | modules/viewer.cpp
63 | modules/frame.cpp
64 | modules/landmark.cpp
65 | modules/voxel.cpp
66 | modules/pcm_solver.cpp
67 | modules/extractor.cpp
68 | modules/scene_graph.cpp
69 | modules/multi_map_merger.cpp
70 | modules/clipper.cpp
71 | modules/locator.cpp
72 | modules/nfr_solver.cpp
73 | modules/json.cpp
74 | modules/observation.cpp
75 | modules/utility.cpp
76 | modules/factor/marginalization_factor.cpp
77 | modules/factor/laser_edge_factor.cpp
78 | modules/factor/laser_surf_factor.cpp
79 | modules/factor/relative_pose_factor.cpp
80 | modules/factor/prior_pose_factor.cpp
81 | modules/factor/local_param.cpp
82 | )
83 |
84 | target_link_libraries(SLIM
85 | ${CERES_LIBRARIES}
86 | ${PCL_LIBRARIES}
87 | ${OpenCV_LIBRARIES}
88 | ${Pangolin_LIBRARY}
89 | ${Boost_LIBRARIES}
90 | ${Boost_LIBRARY_DIRS}
91 | spmm
92 | OpenMP::OpenMP_CXX
93 | pmc_slim
94 | )
95 |
96 | add_executable(offline_mapping test/offline_mapping.cpp ${BACKWARD_ENABLE})
97 | target_link_libraries(offline_mapping SLIM )
98 | add_backward(offline_mapping)
99 |
100 | add_executable(cloud_visualizer test/cloud_visualizer.cpp)
101 | target_link_libraries(cloud_visualizer SLIM )
102 |
103 | add_executable(map_merge test/map_merge.cpp ${BACKWARD_ENABLE})
104 | target_link_libraries(map_merge SLIM )
105 | add_backward(map_merge)
106 |
107 | add_executable(map_visualizer test/map_visualizer.cpp ${BACKWARD_ENABLE})
108 | target_link_libraries(map_visualizer SLIM )
109 | add_backward(map_visualizer)
110 |
111 | add_executable(relocalization test/relocalization.cpp ${BACKWARD_ENABLE})
112 | target_link_libraries(relocalization SLIM )
113 | add_backward(relocalization)
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 |
2 |
3 | ## SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments
4 |
5 |
9 |
10 |
11 |
12 |
17 |
21 |
22 |
23 | > Zehuan Yu, [Zhijian Qiao](https://qiaozhijian.github.io/), Wenyi Liu, [Huan Yin](https://huanyin94.github.io/) and [Shaojie Shen](https://uav.hkust.edu.hk/group/)
24 | >
25 |
26 |
27 |
30 | ## Introduction
31 | This is the official code repository of "SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments". SLIM is a scalable multi-session SLAM algorithm. It enables the construction of vectorized maps and supports scalable map merging. It provides a effective solution for multi-session mapping and is easily extensible, for example, to crowdsourcing visual vectorized maps in autonomous driving.
32 |
33 | 