├── CMakeLists.txt
├── LICENSE
├── README.md
├── Tutorial_Mid-100.md
├── config
├── performance_precision.yaml
└── performance_realtime.yaml
├── include
└── tools
│ ├── common.h
│ ├── common_tools.h
│ ├── logger.hpp
│ ├── os_compatible.hpp
│ ├── pcl_tools.hpp
│ ├── rapidjson
│ ├── allocators.h
│ ├── cursorstreamwrapper.h
│ ├── document.h
│ ├── encodedstream.h
│ ├── encodings.h
│ ├── error
│ │ ├── en.h
│ │ └── error.h
│ ├── filereadstream.h
│ ├── filewritestream.h
│ ├── fwd.h
│ ├── internal
│ │ ├── biginteger.h
│ │ ├── diyfp.h
│ │ ├── dtoa.h
│ │ ├── ieee754.h
│ │ ├── itoa.h
│ │ ├── meta.h
│ │ ├── pow10.h
│ │ ├── regex.h
│ │ ├── stack.h
│ │ ├── strfunc.h
│ │ ├── strtod.h
│ │ └── swap.h
│ ├── istreamwrapper.h
│ ├── memorybuffer.h
│ ├── memorystream.h
│ ├── msinttypes
│ │ ├── inttypes.h
│ │ └── stdint.h
│ ├── ostreamwrapper.h
│ ├── pointer.h
│ ├── prettywriter.h
│ ├── rapidjson.h
│ ├── reader.h
│ ├── schema.h
│ ├── stream.h
│ ├── stringbuffer.h
│ └── writer.h
│ ├── tools_eigen_math.hpp
│ ├── tools_json.hpp
│ ├── tools_logger.hpp
│ ├── tools_random.hpp
│ └── tools_timer.hpp
├── launch
├── livox.launch
├── rosbag.launch
├── rosbag_largescale.launch
├── rosbag_loop.launch
├── rosbag_loop_simple.launch
├── rosbag_mid100.launch
└── rosbag_realtime.launch
├── package.xml
├── pics
├── CYT_01.png
├── CYT_02.png
├── HKUST_01.png
├── HKUST_02.png
├── HKU_ZYM_01.png
├── HKU_ZYM_02.png
├── for_mid100
│ ├── mid_100_demo.gif
│ ├── modify_the_launch_files.png
│ ├── remap_topics.png
│ └── rostopic.png
├── handheld.png
├── hkust_stair.gif
├── loop_4in1.png
├── loop_hku_main.png
├── loop_hku_zym.png
├── loop_simple.png
├── system_low_cost.png
├── video_lc.png
├── video_loam.png
└── zym_rotate.gif
├── rviz_cfg
├── .bashrc
├── rosbag.rviz
└── rosbag_b.rviz
└── source
├── cell_map_keyframe.hpp
├── ceres_icp.hpp
├── ceres_pose_graph_3d.hpp
├── eigen_math.hpp
├── laser_feature_extractor.cpp
├── laser_feature_extractor.hpp
├── laser_mapping.cpp
├── laser_mapping.hpp
├── livox_feature_extractor.hpp
├── point_cloud_registration.hpp
├── read_camera.cpp
└── scene_alignment.hpp
/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 2.8.3)
2 | project(loam_livox)
3 |
4 | set(CMAKE_BUILD_TYPE "Release")
5 | set(CMAKE_CXX_FLAGS "-std=c++14")
6 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
7 |
8 | find_package(catkin REQUIRED COMPONENTS
9 | geometry_msgs
10 | nav_msgs
11 | sensor_msgs
12 | roscpp
13 | rospy
14 | rosbag
15 | std_msgs
16 | image_transport
17 | cv_bridge
18 | tf
19 | )
20 |
21 | find_package(Eigen3 REQUIRED)
22 | find_package(OpenCV REQUIRED)
23 | find_package(Ceres REQUIRED)
24 |
25 | find_package(PCL REQUIRED)
26 | message(STATUS "***** PCL version: ${PCL_VERSION} *****")
27 | ####
28 |
29 | include_directories(
30 | include
31 | ${catkin_INCLUDE_DIRS}
32 | ${PCL_INCLUDE_DIRS}
33 | ${OpenCV_INCLUDE_DIRS}
34 | ${CERES_INCLUDE_DIRS}
35 | ./include/tools/
36 | )
37 |
38 | catkin_package(
39 | CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
40 | DEPENDS EIGEN3 PCL
41 | INCLUDE_DIRS include
42 | )
43 |
44 |
45 | add_executable(livox_scanRegistration source/laser_feature_extractor.cpp)
46 | target_link_libraries(livox_scanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
47 |
48 | add_executable(livox_laserMapping source/laser_mapping.cpp )
49 | target_link_libraries(livox_laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES} )
50 |
51 | add_executable(read_camera source/read_camera.cpp)
52 | target_link_libraries(read_camera ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES} ${OpenCV_LIBS})
53 |
54 |
55 |
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # LOAM-Livox
2 | ## A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
3 |
4 |
5 |
6 |
7 |
12 |
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26 |
27 |
28 |
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154 |
4 |
5 |
18 |
19 |
28 |
29 |
37 |
38 |
10 | #include
11 | #include "tools_logger.hpp"
12 | #include "tools_timer.hpp"
13 | #include "tools_random.hpp"
14 | #include "tools_json.hpp"
15 | #include "os_compatible.hpp"
16 | namespace Common_tools
17 | {
18 | template
19 | static std::vector vector_2d_to_1d(std::vector> & pt_vec_vec)
20 | {
21 | std::vector pt_vec;
22 | for (unsigned int i = 0; i < pt_vec_vec.size(); i++)
23 | {
24 | pt_vec.insert(pt_vec.end(), pt_vec_vec[i].begin(), pt_vec_vec[i].end());
25 | }
26 | return pt_vec;
27 | };
28 |
29 | template
30 | std::vector std_set_to_vector (const std::set & input_set)
31 | {
32 | std::vector output_vector;
33 | for(auto it = input_set.begin() ; it!= input_set.end(); it++)
34 | {
35 | output_vector.push_back(*(it));
36 | }
37 | return output_vector;
38 | };
39 |
40 | template
41 | std::set std_vector_to_set (const std::vector & input_vector)
42 | {
43 | std::set output_set;
44 | for(auto it = input_vector.begin() ; it!= input_vector.end(); it++)
45 | {
46 | output_set.insert(*(it));
47 | }
48 | return output_set;
49 | };
50 |
51 | template
52 | void maintain_maximum_thread_pool(std::list & thread_pool, size_t maximum_parallel_thread)
53 | {
54 | if(thread_pool.size() >= (size_t) maximum_parallel_thread)
55 | {
56 | //printf("******** Maximum thread number reach, current size = %d, wait finish... *****\r\n", thread_pool.size());
57 | while ( 1 )
58 | {
59 | //printf_line;
60 | for ( auto it = thread_pool.begin(); it != thread_pool.end(); it++ )
61 | {
62 |
63 | auto status = (*it)->wait_for(std::chrono::nanoseconds(1));
64 | if ( status == std::future_status::ready )
65 | {
66 | //cout << "status == std::future_status::ready" << endl;
67 | delete *it;
68 | thread_pool.erase( it );
69 | break;
70 | }
71 | }
72 | if(thread_pool.size() < (size_t) maximum_parallel_thread)
73 | {
74 | break;
75 | }
76 | std::this_thread::sleep_for( std::chrono::nanoseconds( 1 ) );
77 | }
78 |
79 | }
80 |
81 | };
82 |
83 | inline bool if_file_exit( const std::string &name )
84 | {
85 | //Copy from: https://stackoverflow.com/questions/12774207/fastest-way-to-check-if-a-file-exist-using-standard-c-c11-c
86 | struct stat buffer;
87 | return ( stat( name.c_str(), &buffer ) == 0 );
88 | };
89 | }
90 | #endif
91 |
--------------------------------------------------------------------------------
/include/tools/logger.hpp:
--------------------------------------------------------------------------------
1 | // Author: Lin Jiarong ziv.lin.ljr@gmail.com
2 |
3 | #ifndef __LOGGER_HPP__
4 | #define __LOGGER_HPP__
5 | #include
6 | #include
7 | #include
8 | #include
9 | #include