GitPlanet

Cheap and reliable Node.js hosting starts at $3/month, and $1/month static HTML hosting

Created with love in Canada, visit hostnodejs.com today

Feel like to post an Ad? Learn Details
All Projects → engcang → SLAM-application

engcang / SLAM-application

Licence: BSD-3-Clause license
LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE application and comparison on Gazebo and real-world datasets. Installation and config files are provided.

Programming Languages

python
139335 projects - #7 most used programming language

Labels

roboticsroslidarslam

Projects that are alternatives of or similar to SLAM-application

Loam noted
loam code noted in Chinese（loam中文注解版）
Stars: ✭ 455 (+76.36%)
Mutual labels:  lidar, slam
li slam ros2
ROS2 package of tightly-coupled lidar inertial ndt/gicp slam
Stars: ✭ 160 (-37.98%)
Mutual labels:  lidar, slam
A Loam
Advanced implementation of LOAM
Stars: ✭ 869 (+236.82%)
Mutual labels:  lidar, slam
Sc Lego Loam
LiDAR SLAM: Scan Context + LeGO-LOAM
Stars: ✭ 332 (+28.68%)
Mutual labels:  lidar, slam
Awesome Robotic Tooling
Tooling for professional robotic development in C++ and Python with a touch of ROS, autonomous driving and aerospace.
Stars: ✭ 1,876 (+627.13%)
Mutual labels:  lidar, slam
Interactive slam
Interactive Map Correction for 3D Graph SLAM
Stars: ✭ 372 (+44.19%)
Mutual labels:  lidar, slam
Loam velodyne
Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
Stars: ✭ 1,135 (+339.92%)
Mutual labels:  lidar, slam
awesome-lidar
😎 Awesome LIDAR list. The list includes LIDAR manufacturers, datasets, point cloud-processing algorithms, point cloud frameworks and simulators.
Stars: ✭ 217 (-15.89%)
Mutual labels:  lidar, slam
Ssl slam2
SSL_SLAM2: Lightweight 3-D Localization and Mapping for Solid-State LiDAR (mapping and localization separated) ICRA 2021
Stars: ✭ 96 (-62.79%)
Mutual labels:  lidar, slam
Urbannavdataset
UrbanNav: an Open-Sourcing Localization Data Collected in Asian Urban Canyons, Including Tokyo and Hong Kong
Stars: ✭ 79 (-69.38%)
Mutual labels:  lidar, slam
Staticmapping
Use LiDAR to map the static world
Stars: ✭ 191 (-25.97%)
Mutual labels:  lidar, slam
Mola
A Modular Optimization framework for Localization and mApping (MOLA)
Stars: ✭ 206 (-20.16%)
Mutual labels:  lidar, slam
Overlapnet
OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss)
Stars: ✭ 299 (+15.89%)
Mutual labels:  lidar, slam
Semantic suma
SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)
Stars: ✭ 431 (+67.05%)
Mutual labels:  lidar, slam
UrbanLoco
UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
Stars: ✭ 147 (-43.02%)
Mutual labels:  lidar, slam
Hdl graph slam
3D LIDAR-based Graph SLAM
Stars: ✭ 945 (+266.28%)
Mutual labels:  lidar, slam
FAST LIO SLAM
LiDAR SLAM = FAST-LIO + Scan Context
Stars: ✭ 183 (-29.07%)
Mutual labels:  lidar, slam
direct lidar odometry
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
Stars: ✭ 202 (-21.71%)
Mutual labels:  lidar, slam
Lego Loam
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
Stars: ✭ 1,138 (+341.09%)
Mutual labels:  lidar, slam
M Loam
Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
Stars: ✭ 114 (-55.81%)
Mutual labels:  lidar, slam
View All Similar Projects ➔

SLAM-application: installation and test


● Results:

● video: Lego-LOAM vs LIO-SAM vs LVI-SAM

● video2: LIO-SAM vs LVI-SAM

● video3: LIO-SAM vs FAST-LIO2

● video4: FAST-LIO2 vs Livox-mapping vs LOAM-Livox using Livox Mid-70 LiDAR, real-world

● video5: FAST-LIO2 in the building with narrow stairs using Ouster OS0-128, real-world

● video6: FAST-LIO2 in the narrow tunnels using Ouster OS0-128 on the UAV (drone)

● video7: Faster-LIO vs FAST-LIO in the building with narrow stairs using Ouster OS0-128, real-world

● video8: VoxelMap in the building using Intel Realsense L515, real-world

● video9: R3LIVE in the building and around the building using Livox Mid-70 LiDAR, FLIR Blackfly S, Pixhawk4 mini, real-world


Requirements

  • Dependencies
$ sudo apt-get install -y ros-melodic-navigation ros-melodic-robot-localization ros-melodic-robot-state-publisher
  • GTSAM for LVI-SAM and LIO-SAM
$ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
$ unzip gtsam.zip
$ cd gtsam-4.0.2/
$ mkdir build && cd build
$ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
$ sudo make install -j8
$ sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
$ wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
$ tar zxf ceres-solver-1.14.0.tar.gz
$ mkdir ceres-bin
$ mkdir solver && cd ceres-bin
$ cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver"  #good for build without being root privileged and at wanted directory
$ make -j8 # 8 : number of cores
$ make test
$ make install
  • glog, g++-9 and gcc-9 for Faster-LIO
$ sudo apt-get install libgoogle-glog-dev
$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test
$ sudo apt update
$ sudo apt install gcc-9 g++-9
$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9

Note: Ouster-ros package cannot be built with gcc and g++ with the version higher than 6

  • When building ouster-ros,
catkin b -DCMAKE_C_COMPILER=gcc-6 -DCMAKE_CXX_COMPILER=g++-6 -DCMAKE_BUILD_TYPE=Release
  • CGAL and pcl-tools for R3LIVE
$ sudo apt install libcgal-dev pcl-tools

Optionally,
$ sudo apt install meshlab

Installation

● LeGO-LOAM

$ cd ~/your_workspace/src
$ git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● LIO-SAM

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LIO-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● LVI-SAM

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LVI-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for LVI-SAM

  • for OpenCV 4.X, edit LVI-SAM/src/visual_odometry/visual_loop/ThirdParty/DVision/BRIEF.cpp:53
// cv::cvtColor(image, aux, CV_RGB2GRAY);
cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);

● FAST-LIO2

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/FAST_LIO.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Faster-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty
$ tar -xvf tbb2018_20170726oss_lin.tgz

$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb2018_20170726oss -DCMAKE_BUILD_TYPE=Release

● Faster-LIO on ARM architecture (e.g., Jetson Xavier)

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty
$ git clone https://github.com/syoyo/tbb-aarch64
$ cd tbb-aarch64
$ ./scripts/bootstrap-aarch64-linux.sh
$ cd build-aarch64
$ make && make install

$ gedit faster-lio/cmake/packages.cmake

Edit line 13 as:
    #set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib/intel64/gcc4.7")
    set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib")


$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb-aarch64/dist -DCMAKE_BUILD_TYPE=Release

● VoxelMap

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ git clone https://github.com/hku-mars/VoxelMap.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for VoxelMap

  • /usr/include/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ ...
    • You could meet this error in ROS-melodic. Fix as here
$ sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
$ sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

$ sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
$ sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

● R3LIVE

$ cd ~/your_workspace/src
$ git clone https://github.com/hku-mars/r3live.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for R3LIVE

  • LiDAR incoming frame too old ...
    • Original Livox-ros-driver does not publish the data with ROS timestamp, but LiDAR time.
    • So, use modified livox-ros-driver here
    • If that does not solve the problem, edit lddc.cpp yourself, line 563:
    //livox_msg.header.stamp = ros::Time((timestamp - init_lidar_tim - packet_offset_time )  / 1e9 + init_ros_time);
  livox_msg.header.stamp = ros::Time::now();
  /**************** Modified for R2LIVE **********************/
  ros::Publisher *p_publisher = Lddc::GetCurrentPublisher(handle);
  if (kOutputToRos == output_type_)
  {
    p_publisher->publish(livox_msg);
  }

● How to properly set configuration for R3LIVE

  • Camera calibration - use Kalibr or camera_calibration
    • Kalibr - refer original repo
    • camera_calibration - use as here
  • Lidar-Camera calibration
    • Other spinning LiDARs are not supported yet (for RGB mapping), but try to use lidar_camera_calibration repo, if you want to.
    • For LiVOX LiDAR, use livox_camera_calib repo
      • Record a bag file of LiVOX LiDAR data and capture the image from RGB camera you use.
      • Convert a bag file into a PCD file with (change directories in the launch file):
      $ roslaunch livox_camera_calib bag_to_pcd.launch
      • Then, calibrate LiDAR and camera as (change directories in the launch and config files):
      $ roslaunch livox_camera_calib calib.launch

★Note: extrinsic rotational parameter from livox_camera_calib should be transposed in the r3live_config.yaml file. Refer my extrinsic result and r3live config file


Left: Target image. Right: Target PCD


Left: calibrated image and residuals. Right: calibrated image


Sensor configuration of mine: Pixhawk4 mini as an IMU, FLIR Blackfly S USB3 (BFS-U3-23S3C-C), LiVOX MID-70


How to run

● check each of config files and launch files in the folders of this repo

Trouble shooting for Gazebo Velodyne plugin

  • When using CPU ray, instead of GPU ray, height - width should be interchanged, I used this script file
Note that the project description data, including the texts, logos, images, and/or trademarks, for each open source project belongs to its rightful owner. If you wish to add or remove any projects, please contact us at [email protected].