FAST_LIO_COLOR_MAPPING

A modified version of FAST-LIO2 that can generate RGB point cloud maps

Fig 1 :Indoor Test

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu >= 16.04

ROS >= Melodic. ROS Installation

1.2. PCL && Eigen && OpenCV

PCL >= 1.8, Follow PCL Installation.

Eigen >= 3.3.4, Follow Eigen Installation.

Opencv >= 3.2.0, FollowOpenCV_installation

1.3. livox_ros_driver

Follow livox_ros_driver Installation.

2. Build

Clone the repository and catkin_make:

    cd ~/$A_ROS_DIR$/src
    git clone https://github.com/YWL0720/FAST-LIO-COLOR-MAPPING.git
    cd FAST_LIO_COLOR_MAPPING
    git submodule update --init
    cd ../..
    catkin_make
    source devel/setup.bash

• Remember to source the livox_ros_driver before build (follow 1.3 livox_ros_driver)
• If you want to use a custom build of PCL, add the following line to ~/.bashrc export PCL_ROOT={CUSTOM_PCL_PATH}

3. Sensor Configuration

3.1 Extrinsic parameters

Fig 2 : Sensor Configuration

We use the Livox MID-360 for point cloud and IMU input, and the Intel RealSense L515 for RGB image input.

The extrinsic parameters between the LiDAR and the camera are obtained through direct_visual_lidar_calibration.

3.2 Time Synchronization

TODO

4. Run

roslaunch fast_lio_color_mapping mapping_mid360.launch

5. TODO

• Time Synchronization

6.Acknowledgments

Thanks for FAST-LIO2(Xu, Wei, et al. FAST-LIO2: Fast Direct LiDAR-inertial Odometry), FAST-LIO2