R3LIVE：A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation 运行记录

最新推荐文章于 2025-06-01 17:29:04 发布

百川到海永不变

最新推荐文章于 2025-06-01 17:29:04 发布

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本文链接：https://blog.csdn.net/m0_46114737/article/details/122732733

本文介绍了港大火星实验室开源的R3live的安装及运行过程。R3live是一款强大的实时RGB彩色LiDAR惯性视觉状态估计和映射包。文章详细记录了ROS、Livox驱动等依赖项的安装步骤，并提供了运行实例。

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港大火星实验室在2022年元旦开源了R3live，个人效果非常不错。年前找个时间运行了一下，嗯，确实可以。好，言归正传，记录一下运行的过程。

下面就是github上面开源的链接地址了。

GitHub - hku-mars/r3live: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping packageA Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package - GitHub - hku-mars/r3live: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping packagehttps://github.com/hku-mars/r3live首先安装一下ROS、Livox驱动、 CGAL和OpenCV库依赖：

ROS

Following this ROS Installation to install ROS and its additional pacakge:

sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport ros-XXX-image-transport*

NOTICE: remember to replace "XXX" on above command as your ROS distributions, for example, if your use ROS-kinetic, the command should be:

sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport*

livox_ros_driver

Follow this livox_ros_driver Installation.

CGAL and pcl_viewer (optional)

sudo apt-get install libcgal-dev pcl-tools

OpenCV >= 3.3

You can use the following command to check your OpenCV version, if your openCV version lower than OpenCV-3.3, we recommend you to update your you openCV version if you meet errors in complying our codes. Otherwise, skip this step .

pkg-config --modversion opencv

现在可以clone一下代码：

mkdir -p ~/catkin_R3live/src

cd ~/catkin_R3live/src
git clone https://github.com/hku-mars/r3live.git
cd ../
然后编译，catkin_make一下，（因为我已经编译过了，所以built显示比较简单），如图：

source devel/setup.bash