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1.0 - 6.21 - 格式化代码
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1.1 - 8.20 - clang-format
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2.0 - 5.31 - to ros2
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2.1 - 5.31 - fix sophus path
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2.2 - 6.3 - 封装 & 测试
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2.3 - 6.23 - 引出kf参数，添加log输出
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2.4 - 7.11 - 添加PCA法向分析
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2.5 - 7.17 - 取消submap移动，优化地图保存逻辑
S-FAST_LIO is a simplified implementation of FAST_LIO (Xu, Wei, et al. "Fast-lio2: Fast direct lidar-inertial odometry."), which is modified from FAST_LIO. This code is clean and accessible. It is a reference material for SLAM beginners.The main modifications are as follows:
- The Sophus is used to define the state variables, instead of the complicated IKFOM
- The gravity component is directly defined by a Vector3d, thus the complicated calculation of two-dimensional manifold can be omitted
- The code structure has been optimized, and the unnecessary codes have been deleted
- Detailed Chinese notes are added to the code
- Add relocation function in established maps
- Support for Robosense LiDAR has been added
In addition, the following links are also my previous works. I strongly recommend reading them, since they are the interpretation and detailed equation derivation of the FAST-LIO paper:
Ubuntu >= 16.04.
PCL >= 1.8, Eigen >= 3.3.4.
Follow livox_ros_driver2 Installation.
We use the old version of Sophus
cd thirdparty
chmod +x build.sh
./build.sh
or
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build
cd build
cmake ../ -DUSE_BASIC_LOGGING=ON
make
sudo make install
Thanks for the authors of FAST-LIO.
