├── CMakeLists.txt
├── LICENSE
├── README.md
├── doc
└── results
│ ├── horizon_outdoor_01.png
│ ├── horizon_parking.gif
│ ├── horizon_parking_01.png
│ ├── mid100_01.png
│ ├── mid100_02.png
│ ├── mid40_hall.gif
│ ├── mid40_hall_01.png
│ └── mid40_outdoor.png
├── launch
├── mapping_horizon.launch
├── mapping_mid.launch
└── mapping_outdoor.launch
├── package.xml
├── rviz_cfg
├── .gitignore
└── loam_livox.rviz
└── src
├── laserMapping.cpp
├── livox_repub.cpp
├── scanRegistration.cpp
└── scanRegistration_horizon.cpp
/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 2.8.3)
2 | project(livox_mapping)
3 |
4 | SET(CMAKE_BUILD_TYPE "Debug")
5 |
6 | #set(CMAKE_CXX_COMPILER "/usr/bin/clang++")
7 |
8 | #set(CMAKE_C_COMPILER "/usr/bin/clang")
9 | set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions")
10 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -std=c++0x -std=c++14 -fexceptions -Wno-unused-local-typedefs")
11 |
12 | find_package(OpenMP QUIET)
13 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
14 | set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
15 |
16 | find_package(catkin REQUIRED COMPONENTS
17 | geometry_msgs
18 | nav_msgs
19 | sensor_msgs
20 | roscpp
21 | rospy
22 | std_msgs
23 | pcl_ros
24 | tf
25 | livox_ros_driver
26 | )
27 |
28 | find_package(Eigen3 REQUIRED)
29 | find_package(PCL REQUIRED)
30 | find_package(OpenCV REQUIRED)
31 |
32 | include_directories(
33 | ${catkin_INCLUDE_DIRS}
34 | ${EIGEN3_INCLUDE_DIR}
35 | ${PCL_INCLUDE_DIRS})
36 |
37 | catkin_package(
38 | CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
39 | DEPENDS EIGEN3 PCL OpenCV
40 | INCLUDE_DIRS
41 | )
42 |
43 | add_executable(livox_repub src/livox_repub.cpp)
44 | target_link_libraries(livox_repub ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
45 |
46 | add_executable(loam_scanRegistration src/scanRegistration.cpp)
47 | target_link_libraries(loam_scanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
48 |
49 | add_executable(loam_scanRegistration_horizon src/scanRegistration_horizon.cpp)
50 | target_link_libraries(loam_scanRegistration_horizon ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
51 |
52 | add_executable(loam_laserMapping src/laserMapping.cpp)
53 | target_link_libraries(loam_laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
54 |
55 |
--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
1 | This is an advanced implementation of the algorithm described in the following paper:
2 | J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time.
3 | Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014.
4 |
5 | Modifier: livox dev@livoxtech.com
6 |
7 | Copyright 2013, Ji Zhang, Carnegie Mellon University
8 | Further contributions copyright (c) 2016, Southwest Research Institute
9 | All rights reserved.
10 |
11 | Redistribution and use in source and binary forms, with or without
12 | modification, are permitted provided that the following conditions are met:
13 |
14 | 1. Redistributions of source code must retain the above copyright notice, this
15 | list of conditions and the following disclaimer.
16 | 2. Redistributions in binary form must reproduce the above copyright notice,
17 | this list of conditions and the following disclaimer in the documentation
18 | and/or other materials provided with the distribution.
19 | 3. Neither the name of the copyright holder nor the names of its contributors
20 | may be used to endorse or promote products derived from this software without
21 | specific prior written permission.
22 |
23 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
24 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
25 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
26 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
27 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
28 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
29 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,OR
31 | TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
32 | THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
33 |
34 |
35 |
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | ## Livox_mapping
2 | Livox_mapping is a mapping package for Livox LiDARs.
3 | The package currently contains the basic functions of low-speed mapping.
4 |
5 |
6 |
7 |
8 |
