FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

Preparation

DataFolder  
├ imu_data.txt (sys_time_ms,imu_hw_ts,acc_x,acc_y,acc_z,gyro_x,gyro_y,gyro_z)
├ pcd  
│  ├ 1767781289679.pcd  
│  ├ 1767781289746.pcd  
│  ├ 1767781289813.pcd  
│  ├ ...  
├ image  
│  ├ 1767781289704.jpg
│  ├ 1767781289771.jpg
│  ├ 1767781289838.jpg
│  ├ ...

Usage

Config (offline.yaml)

common:
    dir_path: "/path/to/your/data/"
    imu_file_name: "imu_data.txt"
    lid_dir_name: "pcd/"
    img_dir_name: "image/"
    save_path: "/path/to/save/pointcloud/"
    camera_config_name: "/path/to/camera/config"

Compile

cd /path/to/workspace
mkdir build
cd build
cmake ..
make

Run

NOTICE: "/path/to/config.yaml" must be set to your config path (default: "/config/offline.yaml").

./fastlivo_mapping /path/to/config.yaml

Acknowledgement

Thank the authors of FAST-LIVO2 for open-sourcing their outstanding works.