{"id":101048,"date":"2026-09-06T01:32:55","date_gmt":"2026-09-05T17:32:55","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/101048.html"},"modified":"2026-09-06T01:32:55","modified_gmt":"2026-09-05T17:32:55","slug":"%e4%bb%8e%e5%8e%9f%e7%90%86%e5%88%b0%e5%ae%9e%e8%b7%b5%ef%bc%9afast-lio2-%e7%ae%97%e6%b3%95%e3%80%81github-%e6%ba%90%e7%a0%81%e4%b8%8e-mid-360-%e8%90%bd%e5%9c%b0%e8%bf%90%e8%a1%8c%e6%95%99%e7%a8%8b","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/101048.html","title":{"rendered":"\u4ece\u539f\u7406\u5230\u5b9e\u8df5\uff1aFAST-LIO2 \u7b97\u6cd5\u3001GitHub \u6e90\u7801\u4e0e MID-360 \u843d\u5730\u8fd0\u884c\u6559\u7a0b"},"content":{"rendered":"<h2>\u524d\u8a00<\/h2>\n<p>FAST-LIO2 \u662f\u76ee\u524d\u8f83\u4e3a\u7ecf\u5178\u7684\u6fc0\u5149\u96f7\u8fbe\u2014\u60ef\u6027\u91cc\u7a0b\u8ba1\u7b97\u6cd5\u3002\u5b83\u901a\u8fc7\u7d27\u8026\u5408\u65b9\u5f0f\u878d\u5408 LiDAR \u70b9\u4e91\u548c IMU \u6570\u636e&#xff0c;\u53ef\u4ee5\u5b9e\u65f6\u4f30\u8ba1\u8bbe\u5907\u7684\u4f4d\u7f6e\u3001\u59ff\u6001\u548c\u8fd0\u52a8\u8f68\u8ff9&#xff0c;\u540c\u65f6\u6784\u5efa\u4e09\u7ef4\u70b9\u4e91\u5730\u56fe\u3002<\/p>\n<p>\u76f8\u8f83\u4e8e\u4f20\u7edf\u7684 LOAM \u7c7b\u7b97\u6cd5&#xff0c;FAST-LIO2 \u4e0d\u9700\u8981\u5f3a\u5236\u63d0\u53d6\u8fb9\u7f18\u70b9\u548c\u5e73\u9762\u70b9&#xff0c;\u800c\u662f\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528\u7ecf\u8fc7\u964d\u91c7\u6837\u7684\u539f\u59cb\u70b9\u4e91\u4e0e\u5730\u56fe\u8fdb\u884c\u5339\u914d\u3002\u540c\u65f6&#xff0c;\u5b83\u4f7f\u7528 ikd-Tree \u7ba1\u7406\u4e0d\u65ad\u589e\u957f\u7684\u70b9\u4e91\u5730\u56fe&#xff0c;\u5177\u6709\u8f83\u9ad8\u7684\u5b9e\u65f6\u6027\u3002<\/p>\n<p>\u672c\u6587\u4e3b\u8981\u4ecb\u7ecd&#xff1a;<\/p>\n<li>\n<p>FAST-LIO2 \u7684\u57fa\u672c\u539f\u7406&#xff1b;<\/p>\n<\/li>\n<li>\n<p>FAST-LIO2 \u7684\u6838\u5fc3\u5904\u7406\u6d41\u7a0b&#xff1b;<\/p>\n<\/li>\n<li>\n<p>FAST_LIO GitHub \u4ed3\u5e93\u4e2d\u7684\u6587\u4ef6\u4f5c\u7528&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5173\u952e\u6e90\u7801\u4e4b\u95f4\u7684\u8c03\u7528\u5173\u7cfb&#xff1b;<\/p>\n<\/li>\n<li>\n<p>Ubuntu 20.04\u3001ROS Noetic \u548c Livox MID-360 \u7684\u843d\u5730\u8fd0\u884c\u65b9\u6cd5&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u70b9\u4e91\u5730\u56fe\u4fdd\u5b58\u53ca\u5e38\u89c1\u95ee\u9898\u89e3\u51b3\u65b9\u6cd5\u3002<\/p>\n<\/li>\n<p>\u4e3a\u907f\u514d\u516c\u5f0f\u5728\u90e8\u5206\u535a\u5ba2\u5e73\u53f0\u4e2d\u51fa\u73b0\u4e71\u7801&#xff0c;\u672c\u6587\u4f7f\u7528\u7eaf\u6587\u672c\u5f62\u5f0f\u8868\u793a\u516c\u5f0f\u3002<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e00\u3001FAST-LIO2 \u662f\u4ec0\u4e48<\/h2>\n<p>FAST-LIO2 \u5168\u79f0\u4e3a&#xff1a;<\/p>\n<p>FAST Direct LiDAR-Inertial Odometry<\/p>\n<p>\u4e2d\u6587\u53ef\u4ee5\u7406\u89e3\u4e3a&#xff1a;<\/p>\n<p>\u5feb\u901f\u76f4\u63a5\u5f0f\u6fc0\u5149\u96f7\u8fbe\u2014\u60ef\u6027\u91cc\u7a0b\u8ba1\u3002<\/p>\n<p>\u5b83\u4e3b\u8981\u878d\u5408\u4e24\u79cd\u4f20\u611f\u5668\u7684\u6570\u636e&#xff1a;<\/p>\n<ul>\n<li>\n<p>LiDAR \u63d0\u4f9b\u5468\u56f4\u73af\u5883\u7684\u4e09\u7ef4\u51e0\u4f55\u4fe1\u606f&#xff1b;<\/p>\n<\/li>\n<li>\n<p>IMU \u63d0\u4f9b\u8bbe\u5907\u7684\u89d2\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u4fe1\u606f\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u7cfb\u7edf\u6700\u7ec8\u53ef\u4ee5\u8f93\u51fa&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u8bbe\u5907\u5b9e\u65f6\u4f4d\u7f6e&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8bbe\u5907\u5b9e\u65f6\u59ff\u6001&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8bbe\u5907\u8fd0\u52a8\u8f68\u8ff9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u53bb\u7578\u53d8\u540e\u7684\u70b9\u4e91&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u914d\u51c6\u70b9\u4e91&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4e09\u7ef4\u70b9\u4e91\u5730\u56fe&#xff1b;<\/p>\n<\/li>\n<li>\n<p>PCD \u683c\u5f0f\u7684\u5730\u56fe\u6587\u4ef6\u3002<\/p>\n<\/li>\n<\/ul>\n<p>FAST-LIO2 \u6bd4\u8f83\u9002\u5408\u4ee5\u4e0b\u5e94\u7528&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u624b\u6301\u5f0f\u4e09\u7ef4\u626b\u63cf\u4eea&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u65e0\u4eba\u673a\u5b9a\u4f4d\u4e0e\u5efa\u56fe&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u79fb\u52a8\u673a\u5668\u4eba\u5bfc\u822a&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u81ea\u52a8\u9a7e\u9a76\u73af\u5883\u611f\u77e5&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5ba4\u5185\u5916\u4e09\u7ef4\u91cd\u5efa&#xff1b;<\/p>\n<\/li>\n<li>\n<p>Livox \u56fa\u6001\u6216\u6df7\u5408\u56fa\u6001\u6fc0\u5149\u96f7\u8fbe\u5efa\u56fe\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f&#xff0c;FAST-LIO2 \u66f4\u51c6\u786e\u5730\u8bf4\u662f\u4e00\u5957\u201c\u6fc0\u5149\u60ef\u6027\u91cc\u7a0b\u8ba1\u4e0e\u589e\u91cf\u5efa\u56fe\u7cfb\u7edf\u201d\u3002\u5b98\u65b9\u6838\u5fc3\u4ee3\u7801\u6ca1\u6709\u96c6\u6210\u5b8c\u6574\u7684\u56de\u73af\u68c0\u6d4b\u548c\u5168\u5c40\u4f4d\u59ff\u56fe\u4f18\u5316&#xff0c;\u56e0\u6b64\u957f\u8ddd\u79bb\u8fd0\u884c\u540e\u4ecd\u53ef\u80fd\u4ea7\u751f\u7d2f\u8ba1\u6f02\u79fb\u3002<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e8c\u3001\u76f8\u5173 GitHub \u548c\u8bba\u6587\u94fe\u63a5<\/h2>\n<h3 style=\"background-color:transparent\">1. FAST-LIO2 \u5b98\u65b9 GitHub<\/h3>\n<p>FAST-LIO2 \u6ca1\u6709\u5355\u72ec\u653e\u5728\u540d\u4e3a\u201cFAST-LIO2\u201d\u7684\u4ed3\u5e93\u4e2d&#xff0c;\u800c\u662f\u96c6\u6210\u5728 FAST_LIO \u4ed3\u5e93\u4e2d\u3002<\/p>\n<p>FAST-LIO2 \u5b98\u65b9 GitHub \u4ed3\u5e93<\/p>\n<p>https:\/\/github.com\/hku-mars\/FAST_LIO<\/p>\n<h3 style=\"background-color:transparent\">2. FAST-LIO2 \u8bba\u6587<\/h3>\n<p>FAST-LIO2: Fast Direct LiDAR-inertial Odometry<\/p>\n<p>https:\/\/arxiv.org\/abs\/2107.06829<\/p>\n<h3 style=\"background-color:transparent\">3. ikd-Tree \u5b98\u65b9\u4ed3\u5e93<\/h3>\n<p>ikd-Tree \u5b98\u65b9 GitHub<\/p>\n<p>https:\/\/github.com\/hku-mars\/ikd-Tree<\/p>\n<h3 style=\"background-color:transparent\">4. MID-360 \u5b98\u65b9 ROS \u9a71\u52a8<\/h3>\n<p>Livox ROS Driver 2<\/p>\n<p>https:\/\/github.com\/Livox-SDK\/livox_ros_driver2<\/p>\n<h3 style=\"background-color:transparent\">5. MID-360 \u5e95\u5c42 SDK<\/h3>\n<p>Livox-SDK2<\/p>\n<p>https:\/\/github.com\/Livox-SDK\/Livox-SDK2<\/p>\n<h3 style=\"background-color:transparent\">6. LiDAR \u548c IMU \u6807\u5b9a\u5de5\u5177<\/h3>\n<p>LiDAR_IMU_Init<\/p>\n<p>https:\/\/github.com\/hku-mars\/LiDAR_IMU_Init<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e09\u3001FAST-LIO2 \u7684\u8f93\u5165\u4e0e\u8f93\u51fa<\/h2>\n<p>FAST-LIO2 \u7684\u4e3b\u8981\u8f93\u5165\u5982\u4e0b\u3002<\/p>\n<table>\n<tr>\u8f93\u5165\u6570\u636e\u4e3b\u8981\u5185\u5bb9<\/tr>\n<tbody>\n<tr>\n<td>LiDAR \u70b9\u4e91<\/td>\n<td>\u4e09\u7ef4\u5750\u6807\u3001\u53cd\u5c04\u5f3a\u5ea6\u3001\u626b\u63cf\u7ebf\u7f16\u53f7\u3001\u70b9\u65f6\u95f4\u6233<\/td>\n<\/tr>\n<tr>\n<td>IMU \u6570\u636e<\/td>\n<td>\u4e09\u8f74\u89d2\u901f\u5ea6\u3001\u4e09\u8f74\u52a0\u901f\u5ea6<\/td>\n<\/tr>\n<tr>\n<td>\u5916\u53c2<\/td>\n<td>LiDAR \u4e0e IMU \u4e4b\u95f4\u7684\u65cb\u8f6c\u548c\u5e73\u79fb\u5173\u7cfb<\/td>\n<\/tr>\n<tr>\n<td>\u914d\u7f6e\u53c2\u6570<\/td>\n<td>\u4f20\u611f\u5668\u566a\u58f0\u3001\u6ee4\u6ce2\u5c3a\u5bf8\u3001\u6709\u6548\u8ddd\u79bb\u7b49<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>FAST-LIO2 \u7684\u4e3b\u8981\u8f93\u51fa\u5982\u4e0b\u3002<\/p>\n<table>\n<tr>\u8f93\u51fa\u6570\u636e\u4e3b\u8981\u4f5c\u7528<\/tr>\n<tbody>\n<tr>\n<td>\u5b9e\u65f6\u4f4d\u59ff<\/td>\n<td>\u8868\u793a\u8bbe\u5907\u5f53\u524d\u4f4d\u7f6e\u548c\u59ff\u6001<\/td>\n<\/tr>\n<tr>\n<td>\u8fd0\u52a8\u8f68\u8ff9<\/td>\n<td>\u8bb0\u5f55\u8bbe\u5907\u8fde\u7eed\u8fd0\u52a8\u8def\u5f84<\/td>\n<\/tr>\n<tr>\n<td>\u914d\u51c6\u70b9\u4e91<\/td>\n<td>\u5df2\u7ecf\u8f6c\u6362\u5230\u4e16\u754c\u5750\u6807\u7cfb\u7684\u70b9\u4e91<\/td>\n<\/tr>\n<tr>\n<td>\u70b9\u4e91\u5730\u56fe<\/td>\n<td>\u7531\u591a\u5e27\u70b9\u4e91\u7d2f\u79ef\u5f97\u5230\u7684\u4e09\u7ef4\u5730\u56fe<\/td>\n<\/tr>\n<tr>\n<td>PCD \u6587\u4ef6<\/td>\n<td>\u7528\u4e8e\u540e\u7eed\u70b9\u4e91\u67e5\u770b\u3001\u6ee4\u6ce2\u548c\u5efa\u6a21<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>FAST-LIO2 \u5185\u90e8\u9700\u8981\u4f30\u8ba1\u7684\u72b6\u6001\u4e3b\u8981\u5305\u62ec&#xff1a;<\/p>\n<p>\u8bbe\u5907\u4f4d\u7f6e<br \/>\n\u8bbe\u5907\u901f\u5ea6<br \/>\n\u8bbe\u5907\u59ff\u6001<br \/>\n\u9640\u87ba\u4eea\u96f6\u504f<br \/>\n\u52a0\u901f\u5ea6\u8ba1\u96f6\u504f<br \/>\n\u91cd\u529b\u65b9\u5411<br \/>\nLiDAR \u4e0e IMU \u7684\u65cb\u8f6c\u5916\u53c2<br \/>\nLiDAR \u4e0e IMU \u7684\u5e73\u79fb\u5916\u53c2<\/p>\n<p>\u8fd9\u4e9b\u72b6\u6001\u4e3b\u8981\u5b9a\u4e49\u5728&#xff1a;<\/p>\n<p>include\/use-ikfom.hpp<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u56db\u3001FAST-LIO2 \u7684\u6574\u4f53\u5904\u7406\u6d41\u7a0b<\/h2>\n<p>FAST-LIO2 \u7684\u5b8c\u6574\u5904\u7406\u8fc7\u7a0b\u53ef\u4ee5\u6982\u62ec\u4e3a&#xff1a;<\/p>\n<p>LiDAR \u70b9\u4e91\u548c IMU \u6570\u636e<br \/>\n          \u2193<br \/>\n\u6570\u636e\u63a5\u6536\u4e0e\u7f13\u5b58<br \/>\n          \u2193<br \/>\nLiDAR \u548c IMU \u65f6\u95f4\u5bf9\u9f50<br \/>\n          \u2193<br \/>\nIMU \u521d\u59cb\u5316\u4e0e\u72b6\u6001\u9884\u6d4b<br \/>\n          \u2193<br \/>\n\u70b9\u4e91\u8fd0\u52a8\u7578\u53d8\u6821\u6b63<br \/>\n          \u2193<br \/>\n\u5f53\u524d\u70b9\u4e91\u4f53\u7d20\u964d\u91c7\u6837<br \/>\n          \u2193<br \/>\n\u5f53\u524d\u70b9\u4e91\u4e0e\u5df2\u6709\u5730\u56fe\u5339\u914d<br \/>\n          \u2193<br \/>\n\u6784\u5efa\u70b9\u5230\u5e73\u9762\u7684\u8ddd\u79bb\u6b8b\u5dee<br \/>\n          \u2193<br \/>\n\u8fed\u4ee3\u8bef\u5dee\u72b6\u6001\u5361\u5c14\u66fc\u6ee4\u6ce2<br \/>\n          \u2193<br \/>\n\u66f4\u65b0\u8bbe\u5907\u4f4d\u7f6e\u548c\u59ff\u6001<br \/>\n          \u2193<br \/>\n\u5c06\u65b0\u70b9\u52a0\u5165 ikd-Tree \u5730\u56fe<br \/>\n          \u2193<br \/>\n\u53d1\u5e03\u91cc\u7a0b\u8ba1\u3001\u8f68\u8ff9\u548c\u70b9\u4e91<\/p>\n<p>\u4ece\u529f\u80fd\u4e0a\u770b&#xff0c;\u8fd9\u4e2a\u8fc7\u7a0b\u53ef\u4ee5\u5206\u6210\u4e24\u4e2a\u4e3b\u8981\u90e8\u5206&#xff1a;<\/p>\n<ul>\n<li>\n<p>IMU \u8d1f\u8d23\u9ad8\u9891\u9884\u6d4b&#xff1b;<\/p>\n<\/li>\n<li>\n<p>LiDAR \u8d1f\u8d23\u4fee\u6b63 IMU \u7684\u7d2f\u8ba1\u8bef\u5dee\u3002<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e94\u3001IMU \u521d\u59cb\u5316\u4e0e\u72b6\u6001\u9884\u6d4b<\/h2>\n<h3 style=\"background-color:transparent\">1. \u4e3a\u4ec0\u4e48\u9700\u8981\u8fdb\u884c IMU \u521d\u59cb\u5316<\/h3>\n<p>IMU \u6d4b\u91cf\u7684\u662f\u89d2\u901f\u5ea6\u548c\u52a0\u901f\u5ea6&#xff0c;\u5b83\u5e76\u4e0d\u4f1a\u76f4\u63a5\u8f93\u51fa\u8bbe\u5907\u7684\u7edd\u5bf9\u4f4d\u7f6e\u3002<\/p>\n<p>FAST-LIO2 \u5728\u5f00\u59cb\u8fd0\u884c\u65f6&#xff0c;\u9700\u8981\u6839\u636e\u4e00\u6bb5\u76f8\u5bf9\u9759\u6b62\u7684 IMU \u6570\u636e\u4f30\u8ba1&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u521d\u59cb\u91cd\u529b\u65b9\u5411&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u9640\u87ba\u4eea\u96f6\u504f&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u52a0\u901f\u5ea6\u8ba1\u521d\u59cb\u72b6\u6001&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8bbe\u5907\u521d\u59cb\u59ff\u6001\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u56e0\u6b64&#xff0c;\u5728\u542f\u52a8 FAST-LIO2 \u540e&#xff0c;\u5e94\u8ba9\u8bbe\u5907\u4fdd\u6301\u9759\u6b62\u51e0\u79d2\u949f&#xff0c;\u76f4\u5230\u7ec8\u7aef\u4e2d\u51fa\u73b0&#xff1a;<\/p>\n<p>IMU Initial Done<\/p>\n<p>\u5982\u679c\u5728\u521d\u59cb\u5316\u9636\u6bb5\u79fb\u52a8\u6216\u6643\u52a8\u8bbe\u5907&#xff0c;\u53ef\u80fd\u5bfc\u81f4&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u5730\u56fe\u503e\u659c&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5730\u9762\u4e0d\u5e73&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u70b9\u4e91\u51fa\u73b0\u5206\u5c42&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8f68\u8ff9\u5feb\u901f\u6f02\u79fb&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5730\u56fe\u76f4\u63a5\u53d1\u6563\u3002<\/p>\n<\/li>\n<\/ul>\n<h3 style=\"background-color:transparent\">2. IMU \u5982\u4f55\u9884\u6d4b\u8bbe\u5907\u8fd0\u52a8<\/h3>\n<p>IMU \u7684\u89d2\u901f\u5ea6\u53ef\u4ee5\u7528\u4e8e\u8ba1\u7b97\u59ff\u6001\u53d8\u5316&#xff0c;\u52a0\u901f\u5ea6\u53ef\u4ee5\u7528\u4e8e\u8ba1\u7b97\u901f\u5ea6\u548c\u4f4d\u7f6e\u53d8\u5316\u3002<\/p>\n<p>\u5176\u57fa\u672c\u5173\u7cfb\u53ef\u4ee5\u7b80\u5355\u7406\u89e3\u4e3a&#xff1a;<\/p>\n<p>\u89d2\u901f\u5ea6\u79ef\u5206 \u2192 \u59ff\u6001\u53d8\u5316<br \/>\n\u52a0\u901f\u5ea6\u79ef\u5206 \u2192 \u901f\u5ea6\u53d8\u5316<br \/>\n\u901f\u5ea6\u79ef\u5206   \u2192 \u4f4d\u7f6e\u53d8\u5316<\/p>\n<p>\u4f46\u662f&#xff0c;IMU \u79ef\u5206\u4f1a\u4e0d\u65ad\u7d2f\u79ef\u8bef\u5dee\u3002\u56e0\u6b64&#xff0c;FAST-LIO2 \u8fd8\u9700\u8981\u5229\u7528 LiDAR \u70b9\u4e91\u4e0e\u5730\u56fe\u4e4b\u95f4\u7684\u51e0\u4f55\u5173\u7cfb&#xff0c;\u5bf9 IMU \u9884\u6d4b\u7ed3\u679c\u8fdb\u884c\u4fee\u6b63\u3002<\/p>\n<p>\u5bf9\u5e94\u7684\u6838\u5fc3\u4ee3\u7801\u4f4d\u4e8e&#xff1a;<\/p>\n<p>src\/IMU_Processing.hpp<\/p>\n<p>\u5176\u4e2d\u6bd4\u8f83\u91cd\u8981\u7684\u51fd\u6570\u5305\u62ec&#xff1a;<\/p>\n<table>\n<tr>\u51fd\u6570\u4e3b\u8981\u4f5c\u7528<\/tr>\n<tbody>\n<tr>\n<td>IMU_init()<\/td>\n<td>\u521d\u59cb\u5316 IMU&#xff0c;\u4f30\u8ba1\u91cd\u529b\u548c\u521d\u59cb\u96f6\u504f<\/td>\n<\/tr>\n<tr>\n<td>UndistortPcl()<\/td>\n<td>\u6839\u636e IMU \u8fd0\u52a8\u8f68\u8ff9\u6821\u6b63\u70b9\u4e91\u7578\u53d8<\/td>\n<\/tr>\n<tr>\n<td>Process()<\/td>\n<td>\u7ec4\u7ec7 IMU \u9884\u6d4b\u548c\u70b9\u4e91\u53bb\u7578\u53d8\u6d41\u7a0b<\/td>\n<\/tr>\n<tr>\n<td>set_extrinsic()<\/td>\n<td>\u8bbe\u7f6e LiDAR \u4e0e IMU \u5916\u53c2<\/td>\n<\/tr>\n<tr>\n<td>set_gyr_cov()<\/td>\n<td>\u8bbe\u7f6e\u9640\u87ba\u4eea\u566a\u58f0<\/td>\n<\/tr>\n<tr>\n<td>set_acc_cov()<\/td>\n<td>\u8bbe\u7f6e\u52a0\u901f\u5ea6\u8ba1\u566a\u58f0<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u516d\u3001\u70b9\u4e91\u8fd0\u52a8\u7578\u53d8\u6821\u6b63<\/h2>\n<p>LiDAR \u7684\u4e00\u5e27\u70b9\u4e91\u4e0d\u662f\u5728\u540c\u4e00\u4e2a\u65f6\u523b\u91c7\u96c6\u5b8c\u6210\u7684\u3002<\/p>\n<p>\u4f8b\u5982&#xff0c;\u624b\u6301\u8bbe\u5907\u5728\u626b\u63cf\u4e00\u9762\u5899\u65f6\u53d1\u751f\u4e86\u8f6c\u52a8&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u626b\u63cf\u5f00\u59cb\u65f6&#xff0c;\u8bbe\u5907\u5904\u4e8e\u59ff\u6001 A&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u626b\u63cf\u4e2d\u95f4\u65f6&#xff0c;\u8bbe\u5907\u5904\u4e8e\u59ff\u6001 B&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u626b\u63cf\u7ed3\u675f\u65f6&#xff0c;\u8bbe\u5907\u5904\u4e8e\u59ff\u6001 C\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u5982\u679c\u76f4\u63a5\u628a\u8fd9\u4e9b\u70b9\u5f53\u4f5c\u540c\u4e00\u65f6\u523b\u91c7\u96c6\u7684\u6570\u636e&#xff0c;\u539f\u672c\u5e73\u6574\u7684\u5899\u9762\u5c31\u53ef\u80fd\u51fa\u73b0&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u5f2f\u66f2&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u62c9\u4f38&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u9519\u5c42&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u91cd\u5f71\u3002<\/p>\n<\/li>\n<\/ul>\n<p>FAST-LIO2 \u4f1a\u6839\u636e&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u6bcf\u4e2a\u6fc0\u5149\u70b9\u7684\u76f8\u5bf9\u65f6\u95f4&#xff1b;<\/p>\n<\/li>\n<li>\n<p>IMU \u8ba1\u7b97\u51fa\u7684\u8fde\u7eed\u8fd0\u52a8\u8f68\u8ff9&#xff1b;<\/p>\n<\/li>\n<\/ul>\n<p>\u5c06\u4e00\u5e27\u4e2d\u7684\u6240\u6709\u70b9\u8865\u507f\u5230\u540c\u4e00\u4e2a\u53c2\u8003\u65f6\u523b&#xff0c;\u8fd9\u4e2a\u8fc7\u7a0b\u5c31\u662f\u70b9\u4e91\u8fd0\u52a8\u7578\u53d8\u6821\u6b63\u3002<\/p>\n<p>\u56e0\u6b64&#xff0c;FAST-LIO2 \u5bf9\u4ee5\u4e0b\u4fe1\u606f\u975e\u5e38\u654f\u611f&#xff1a;<\/p>\n<ul>\n<li>\n<p>LiDAR \u548c IMU \u7684\u65f6\u95f4\u540c\u6b65&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u6bcf\u4e2a\u6fc0\u5149\u70b9\u7684\u76f8\u5bf9\u65f6\u95f4&#xff1b;<\/p>\n<\/li>\n<li>\n<p>LiDAR \u4e0e IMU \u4e4b\u95f4\u7684\u5916\u53c2\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u5982\u679c\u70b9\u4e91\u7f3a\u5c11\u70b9\u7ea7\u65f6\u95f4\u6233&#xff0c;FAST-LIO2 \u5c31\u65e0\u6cd5\u51c6\u786e\u5224\u65ad\u4e00\u5e27\u4e2d\u6bcf\u4e2a\u70b9\u7684\u91c7\u96c6\u65f6\u523b&#xff0c;\u53bb\u7578\u53d8\u6548\u679c\u4e5f\u4f1a\u53d7\u5230\u4e25\u91cd\u5f71\u54cd\u3002<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e03\u3001FAST-LIO2 \u7684\u76f4\u63a5\u5f0f\u70b9\u4e91\u914d\u51c6<\/h2>\n<h3 style=\"background-color:transparent\">1. \u201cDirect\u201d\u662f\u4ec0\u4e48\u610f\u601d<\/h3>\n<p>LOAM \u7c7b\u7b97\u6cd5\u901a\u5e38\u5148\u4ece\u70b9\u4e91\u4e2d\u63d0\u53d6&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u8fb9\u7f18\u7279\u5f81\u70b9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5e73\u9762\u7279\u5f81\u70b9\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u968f\u540e\u518d\u4f7f\u7528\u8fd9\u4e9b\u4eba\u5de5\u5b9a\u4e49\u7684\u7279\u5f81\u70b9\u8fdb\u884c\u70b9\u4e91\u914d\u51c6\u3002<\/p>\n<p>FAST-LIO2 \u53ef\u4ee5\u5173\u95ed\u4f20\u7edf\u7279\u5f81\u63d0\u53d6&#xff0c;\u76f4\u63a5\u4f7f\u7528\u7ecf\u8fc7\u964d\u91c7\u6837\u7684\u539f\u59cb\u6fc0\u5149\u70b9\u4e0e\u5730\u56fe\u8fdb\u884c\u5339\u914d\u3002<\/p>\n<p>\u4f46\u662f\u9700\u8981\u6ce8\u610f&#xff1a;<\/p>\n<p>\u201c\u4e0d\u8fdb\u884c\u4f20\u7edf\u7279\u5f81\u63d0\u53d6\u201d\u5e76\u4e0d\u7b49\u4e8e\u201c\u5b8c\u5168\u4e0d\u4f7f\u7528\u5e73\u9762\u7ea6\u675f\u201d\u3002<\/p>\n<p>FAST-LIO2 \u4ecd\u7136\u4f1a\u5728\u5730\u56fe\u4e2d\u641c\u7d22\u5f53\u524d\u6fc0\u5149\u70b9\u9644\u8fd1\u7684\u82e5\u5e72\u70b9&#xff0c;\u5e76\u5229\u7528\u8fd9\u4e9b\u90bb\u8fd1\u70b9\u62df\u5408\u5c40\u90e8\u5e73\u9762\u3002<\/p>\n<h3 style=\"background-color:transparent\">2. \u70b9\u5230\u5e73\u9762\u7684\u8ddd\u79bb\u6b8b\u5dee<\/h3>\n<p>\u5bf9\u4e8e\u5f53\u524d\u5e27\u4e2d\u7684\u4e00\u4e2a\u6fc0\u5149\u70b9&#xff0c;FAST-LIO2 \u4f1a\u6267\u884c\u4ee5\u4e0b\u64cd\u4f5c&#xff1a;<\/p>\n<li>\n<p>\u6839\u636e\u5f53\u524d\u4f30\u8ba1\u4f4d\u59ff&#xff0c;\u5c06\u6fc0\u5149\u70b9\u8f6c\u6362\u5230\u4e16\u754c\u5750\u6807\u7cfb&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5728 ikd-Tree \u5730\u56fe\u4e2d\u641c\u7d22\u82e5\u5e72\u4e2a\u6700\u8fd1\u90bb\u70b9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4f7f\u7528\u90bb\u8fd1\u70b9\u62df\u5408\u5c40\u90e8\u5e73\u9762&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8ba1\u7b97\u5f53\u524d\u6fc0\u5149\u70b9\u5230\u8be5\u5e73\u9762\u7684\u8ddd\u79bb&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5c06\u8be5\u8ddd\u79bb\u4f5c\u4e3a\u6ee4\u6ce2\u5668\u7684\u89c2\u6d4b\u6b8b\u5dee\u3002<\/p>\n<\/li>\n<p>\u70b9\u5230\u5e73\u9762\u8ddd\u79bb\u53ef\u4ee5\u8868\u793a\u4e3a&#xff1a;<\/p>\n<p>r &#061; n^T \u00d7 (p_world &#8211; q)<\/p>\n<p>\u5176\u4e2d&#xff1a;<\/p>\n<ul>\n<li>\n<p>r \u8868\u793a\u70b9\u5230\u5e73\u9762\u7684\u8ddd\u79bb\u6b8b\u5dee&#xff1b;<\/p>\n<\/li>\n<li>\n<p>n \u8868\u793a\u5c40\u90e8\u5e73\u9762\u7684\u6cd5\u5411\u91cf&#xff1b;<\/p>\n<\/li>\n<li>\n<p>p_world \u8868\u793a\u5f53\u524d\u6fc0\u5149\u70b9\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684\u4f4d\u7f6e&#xff1b;<\/p>\n<\/li>\n<li>\n<p>q \u8868\u793a\u5c40\u90e8\u5e73\u9762\u4e0a\u7684\u4e00\u4e2a\u70b9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>n^T \u8868\u793a\u6cd5\u5411\u91cf\u7684\u8f6c\u7f6e\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u5982\u679c\u5f53\u524d\u4f30\u8ba1\u4f4d\u59ff\u6bd4\u8f83\u51c6\u786e&#xff0c;\u5f53\u524d\u6fc0\u5149\u70b9\u5e94\u8be5\u843d\u5728\u5730\u56fe\u5e73\u9762\u9644\u8fd1&#xff0c;\u56e0\u6b64\u6b8b\u5dee\u5e94\u5f53\u63a5\u8fd1\u96f6\u3002<\/p>\n<p>\u76f8\u5173\u4ee3\u7801\u4e3b\u8981\u4f4d\u4e8e&#xff1a;<\/p>\n<p>src\/laserMapping.cpp<\/p>\n<p>\u5bf9\u5e94\u7684\u6838\u5fc3\u51fd\u6570\u662f&#xff1a;<\/p>\n<p>h_share_model()<\/p>\n<p>\u8be5\u51fd\u6570\u8d1f\u8d23&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u5c06\u6fc0\u5149\u70b9\u8f6c\u6362\u5230\u4e16\u754c\u5750\u6807\u7cfb&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5728 ikd-Tree \u4e2d\u641c\u7d22\u6700\u8fd1\u90bb\u70b9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u62df\u5408\u5c40\u90e8\u5e73\u9762&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u7b5b\u9009\u6709\u6548\u5339\u914d\u70b9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8ba1\u7b97\u70b9\u5230\u5e73\u9762\u8ddd\u79bb&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u6784\u5efa\u89c2\u6d4b\u96c5\u53ef\u6bd4\u77e9\u9635\u3002<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u516b\u3001\u8fed\u4ee3\u8bef\u5dee\u72b6\u6001\u5361\u5c14\u66fc\u6ee4\u6ce2<\/h2>\n<p>FAST-LIO2 \u4f7f\u7528\u7684\u662f\u8fed\u4ee3\u8bef\u5dee\u72b6\u6001\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668&#xff0c;\u53ef\u4ee5\u7b80\u79f0\u4e3a&#xff1a;<\/p>\n<p>Iterated ESKF<\/p>\n<p>\u5176\u5904\u7406\u8fc7\u7a0b\u53ef\u4ee5\u7b80\u5355\u7406\u89e3\u4e3a&#xff1a;<\/p>\n<li>\n<p>\u4f7f\u7528 IMU \u9884\u6d4b\u8bbe\u5907\u7684\u65b0\u4f4d\u7f6e\u548c\u59ff\u6001&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4f7f\u7528\u9884\u6d4b\u4f4d\u59ff\u5c06\u5f53\u524d\u70b9\u4e91\u8f6c\u6362\u5230\u4e16\u754c\u5750\u6807\u7cfb&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8ba1\u7b97\u5f53\u524d\u70b9\u4e91\u4e0e\u5730\u56fe\u4e4b\u95f4\u7684\u8ddd\u79bb\u6b8b\u5dee&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u6839\u636e\u6b8b\u5dee\u8ba1\u7b97\u72b6\u6001\u4fee\u6b63\u91cf&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4fee\u6b63\u4f4d\u7f6e\u3001\u59ff\u6001\u3001\u901f\u5ea6\u548c IMU \u96f6\u504f&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4f7f\u7528\u4fee\u6b63\u540e\u7684\u4f4d\u59ff\u91cd\u65b0\u641c\u7d22\u70b9\u4e91\u5bf9\u5e94\u5173\u7cfb&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u91cd\u590d\u8fed\u4ee3&#xff0c;\u76f4\u5230\u72b6\u6001\u57fa\u672c\u6536\u655b\u3002<\/p>\n<\/li>\n<p>\u8fd9\u79cd\u65b9\u5f0f\u79f0\u4e3a\u7d27\u8026\u5408&#xff0c;\u662f\u56e0\u4e3a LiDAR \u7684\u70b9\u5230\u5e73\u9762\u6b8b\u5dee\u76f4\u63a5\u8fdb\u5165\u6ee4\u6ce2\u5668&#xff0c;\u800c\u4e0d\u662f\u5148\u5355\u72ec\u8ba1\u7b97\u4e00\u4e2a LiDAR \u4f4d\u59ff&#xff0c;\u518d\u4e0e IMU \u4f4d\u59ff\u8fdb\u884c\u7b80\u5355\u878d\u5408\u3002<\/p>\n<p>\u6ee4\u6ce2\u5668\u76f8\u5173\u6587\u4ef6\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\n<p>include\/use-ikfom.hpp<\/p>\n<\/li>\n<li>\n<p>include\/IKFoM_toolkit<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e5d\u3001ikd-Tree \u589e\u91cf\u5730\u56fe<\/h2>\n<p>FAST-LIO2 \u4f7f\u7528 ikd-Tree \u7ba1\u7406\u70b9\u4e91\u5730\u56fe\u3002<\/p>\n<p>\u666e\u901a KD-Tree \u5728\u5730\u56fe\u589e\u52a0\u5927\u91cf\u65b0\u70b9\u540e&#xff0c;\u53ef\u80fd\u9700\u8981\u91cd\u65b0\u5efa\u6811\u3002\u968f\u7740\u70b9\u4e91\u6570\u91cf\u589e\u52a0&#xff0c;\u91cd\u65b0\u5efa\u6811\u4f1a\u5e26\u6765\u8f83\u5927\u7684\u8ba1\u7b97\u5f00\u9500\u3002<\/p>\n<p>ikd-Tree \u652f\u6301&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u589e\u91cf\u63d2\u5165\u65b0\u70b9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5220\u9664\u5c40\u90e8\u5730\u56fe\u4e4b\u5916\u7684\u70b9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u52a8\u6001\u91cd\u65b0\u5e73\u8861&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5feb\u901f\u6700\u8fd1\u90bb\u641c\u7d22&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5730\u56fe\u4f53\u7d20\u964d\u91c7\u6837\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u6bcf\u5b8c\u6210\u4e00\u5e27\u72b6\u6001\u66f4\u65b0\u540e&#xff0c;FAST-LIO2 \u4f1a&#xff1a;<\/p>\n<li>\n<p>\u5c06\u5f53\u524d\u70b9\u4e91\u8f6c\u6362\u5230\u4e16\u754c\u5750\u6807\u7cfb&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5224\u65ad\u54ea\u4e9b\u70b9\u9700\u8981\u52a0\u5165\u5730\u56fe&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5220\u9664\u5c40\u90e8\u8303\u56f4\u4e4b\u5916\u7684\u65e7\u5730\u56fe\u70b9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5c06\u65b0\u70b9\u589e\u91cf\u52a0\u5165 ikd-Tree\u3002<\/p>\n<\/li>\n<p>\u5bf9\u5e94\u51fd\u6570\u4e3a&#xff1a;<\/p>\n<p>map_incremental()<\/p>\n<p>\u8be5\u51fd\u6570\u4f4d\u4e8e&#xff1a;<\/p>\n<p>src\/laserMapping.cpp<\/p>\n<p>ikd-Tree \u5b98\u65b9\u4ed3\u5e93&#xff1a;<\/p>\n<p>https:\/\/github.com\/hku-mars\/ikd-Tree<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u5341\u3001FAST-LIO \u4e0e FAST-LIO2 \u7684\u533a\u522b<\/h2>\n<table>\n<tr>\u5bf9\u6bd4\u5185\u5bb9FAST-LIOFAST-LIO2<\/tr>\n<tbody>\n<tr>\n<td>\u4f20\u611f\u5668\u878d\u5408<\/td>\n<td>\u7d27\u8026\u5408\u8fed\u4ee3\u5361\u5c14\u66fc\u6ee4\u6ce2<\/td>\n<td>\u7d27\u8026\u5408\u8fed\u4ee3\u5361\u5c14\u66fc\u6ee4\u6ce2<\/td>\n<\/tr>\n<tr>\n<td>\u70b9\u4e91\u5904\u7406<\/td>\n<td>\u66f4\u4f9d\u8d56\u7279\u5f81\u70b9<\/td>\n<td>\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528\u539f\u59cb\u70b9<\/td>\n<\/tr>\n<tr>\n<td>\u5730\u56fe\u7ed3\u6784<\/td>\n<td>\u666e\u901a KD-Tree \u7b49\u7ed3\u6784<\/td>\n<td>\u589e\u91cf\u5f0f ikd-Tree<\/td>\n<\/tr>\n<tr>\n<td>\u5730\u56fe\u66f4\u65b0<\/td>\n<td>\u66f4\u65b0\u6548\u7387\u76f8\u5bf9\u8f83\u4f4e<\/td>\n<td>\u652f\u6301\u5feb\u901f\u63d2\u5165\u3001\u5220\u9664\u548c\u91cd\u5e73\u8861<\/td>\n<\/tr>\n<tr>\n<td>\u96f7\u8fbe\u9002\u5e94\u6027<\/td>\n<td>\u5bf9\u626b\u63cf\u7ed3\u6784\u8981\u6c42\u66f4\u660e\u663e<\/td>\n<td>\u66f4\u9002\u5408\u4e0d\u540c\u626b\u63cf\u6a21\u5f0f\u7684\u96f7\u8fbe<\/td>\n<\/tr>\n<tr>\n<td>\u5b9e\u65f6\u6027\u80fd<\/td>\n<td>\u8f83\u9ad8<\/td>\n<td>\u8fdb\u4e00\u6b65\u63d0\u9ad8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u5341\u4e00\u3001FAST_LIO \u4ed3\u5e93\u6587\u4ef6\u8bb2\u89e3<\/h2>\n<p>\u5b98\u65b9 FAST_LIO \u4ed3\u5e93\u4e2d\u7684\u4e3b\u8981\u6587\u4ef6\u5982\u4e0b\u3002<\/p>\n<table>\n<tr>\u6587\u4ef6\u6216\u76ee\u5f55\u4e3b\u8981\u4f5c\u7528<\/tr>\n<tbody>\n<tr>\n<td>README.md<\/td>\n<td>\u9879\u76ee\u4ecb\u7ecd\u3001\u4f9d\u8d56\u5b89\u88c5\u548c\u8fd0\u884c\u65b9\u6cd5<\/td>\n<\/tr>\n<tr>\n<td>CMakeLists.txt<\/td>\n<td>CMake \u7f16\u8bd1\u914d\u7f6e\u548c ROS \u4f9d\u8d56<\/td>\n<\/tr>\n<tr>\n<td>package.xml<\/td>\n<td>ROS1 \u8f6f\u4ef6\u5305\u4f9d\u8d56\u58f0\u660e<\/td>\n<\/tr>\n<tr>\n<td>config\/<\/td>\n<td>\u4e0d\u540c LiDAR \u5bf9\u5e94\u7684 YAML \u53c2\u6570<\/td>\n<\/tr>\n<tr>\n<td>launch\/<\/td>\n<td>\u4e0d\u540c LiDAR \u5bf9\u5e94\u7684 ROS \u542f\u52a8\u6587\u4ef6<\/td>\n<\/tr>\n<tr>\n<td>src\/laserMapping.cpp<\/td>\n<td>FAST-LIO2 \u4e3b\u7a0b\u5e8f\u548c\u5730\u56fe\u5339\u914d<\/td>\n<\/tr>\n<tr>\n<td>src\/IMU_Processing.hpp<\/td>\n<td>IMU \u521d\u59cb\u5316\u3001\u9884\u6d4b\u548c\u70b9\u4e91\u53bb\u7578\u53d8<\/td>\n<\/tr>\n<tr>\n<td>src\/preprocess.cpp<\/td>\n<td>\u4e0d\u540c\u7c7b\u578b\u70b9\u4e91\u7684\u6570\u636e\u9884\u5904\u7406<\/td>\n<\/tr>\n<tr>\n<td>src\/preprocess.h<\/td>\n<td>\u70b9\u4e91\u7c7b\u578b\u548c\u9884\u5904\u7406\u7c7b\u5b9a\u4e49<\/td>\n<\/tr>\n<tr>\n<td>include\/use-ikfom.hpp<\/td>\n<td>\u7cfb\u7edf\u72b6\u6001\u3001\u8fc7\u7a0b\u6a21\u578b\u548c\u566a\u58f0\u6a21\u578b<\/td>\n<\/tr>\n<tr>\n<td>include\/common_lib.h<\/td>\n<td>\u516c\u5171\u6570\u636e\u7ed3\u6784\u548c\u6570\u5b66\u5de5\u5177<\/td>\n<\/tr>\n<tr>\n<td>include\/IKFoM_toolkit\/<\/td>\n<td>\u6d41\u5f62\u4e0a\u7684\u8fed\u4ee3\u5361\u5c14\u66fc\u6ee4\u6ce2\u5de5\u5177<\/td>\n<\/tr>\n<tr>\n<td>include\/ikd-Tree\/<\/td>\n<td>\u589e\u91cf\u5f0f KD-Tree \u5b50\u6a21\u5757<\/td>\n<\/tr>\n<tr>\n<td>msg\/Pose6D.msg<\/td>\n<td>\u81ea\u5b9a\u4e49 ROS \u6d88\u606f<\/td>\n<\/tr>\n<tr>\n<td>rviz_cfg\/<\/td>\n<td>RViz \u53ef\u89c6\u5316\u914d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>Log\/<\/td>\n<td>\u8fd0\u884c\u65f6\u95f4\u548c\u4f4d\u59ff\u65e5\u5fd7<\/td>\n<\/tr>\n<tr>\n<td>PCD\/<\/td>\n<td>\u6700\u7ec8\u70b9\u4e91\u5730\u56fe\u4fdd\u5b58\u76ee\u5f55<\/td>\n<\/tr>\n<tr>\n<td>doc\/<\/td>\n<td>\u8bba\u6587\u3001\u7b97\u6cd5\u7ed3\u6784\u56fe\u548c\u5b9e\u9a8c\u7ed3\u679c<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3 style=\"background-color:transparent\">1. laserMapping.cpp<\/h3>\n<p>\u8fd9\u662f FAST-LIO2 \u6700\u6838\u5fc3\u7684\u6587\u4ef6&#xff0c;\u76f8\u5f53\u4e8e\u6574\u4e2a\u7cfb\u7edf\u7684\u4e3b\u63a7\u5236\u7a0b\u5e8f\u3002<\/p>\n<p>\u5b83\u4e3b\u8981\u8d1f\u8d23&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u63a5\u6536 LiDAR \u70b9\u4e91&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u63a5\u6536 IMU \u6570\u636e&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u7f13\u5b58\u4f20\u611f\u5668\u6570\u636e&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u540c\u6b65\u4e00\u5e27\u70b9\u4e91\u548c\u5bf9\u5e94\u7684 IMU&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8c03\u7528 IMU \u53bb\u7578\u53d8&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5bf9\u5f53\u524d\u70b9\u4e91\u964d\u91c7\u6837&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5728\u5730\u56fe\u4e2d\u641c\u7d22\u6700\u8fd1\u90bb\u70b9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u6784\u5efa\u70b9\u5230\u5e73\u9762\u8ddd\u79bb\u6b8b\u5dee&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u6267\u884c\u8fed\u4ee3\u6ee4\u6ce2\u66f4\u65b0&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u66f4\u65b0 ikd-Tree \u5730\u56fe&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u53d1\u5e03\u91cc\u7a0b\u8ba1\u3001\u8f68\u8ff9\u548c\u70b9\u4e91&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4fdd\u5b58 PCD \u5730\u56fe\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u5efa\u8bae\u91cd\u70b9\u9605\u8bfb\u4ee5\u4e0b\u51fd\u6570&#xff1a;<\/p>\n<table>\n<tr>\u51fd\u6570\u4f5c\u7528<\/tr>\n<tbody>\n<tr>\n<td>livox_pcl_cbk()<\/td>\n<td>\u63a5\u6536 Livox \u81ea\u5b9a\u4e49\u70b9\u4e91<\/td>\n<\/tr>\n<tr>\n<td>standard_pcl_cbk()<\/td>\n<td>\u63a5\u6536\u6807\u51c6 PointCloud2<\/td>\n<\/tr>\n<tr>\n<td>imu_cbk()<\/td>\n<td>\u63a5\u6536 IMU \u6570\u636e<\/td>\n<\/tr>\n<tr>\n<td>sync_packages()<\/td>\n<td>\u5c06\u4e00\u5e27 LiDAR \u4e0e\u5bf9\u5e94 IMU \u6570\u636e\u5bf9\u9f50<\/td>\n<\/tr>\n<tr>\n<td>lasermap_fov_segment()<\/td>\n<td>\u7ba1\u7406\u5c40\u90e8\u5730\u56fe\u8303\u56f4<\/td>\n<\/tr>\n<tr>\n<td>h_share_model()<\/td>\n<td>\u641c\u7d22\u6700\u8fd1\u90bb\u3001\u62df\u5408\u5e73\u9762\u5e76\u6784\u5efa\u6b8b\u5dee<\/td>\n<\/tr>\n<tr>\n<td>map_incremental()<\/td>\n<td>\u589e\u91cf\u66f4\u65b0 ikd-Tree<\/td>\n<\/tr>\n<tr>\n<td>publish_odometry()<\/td>\n<td>\u53d1\u5e03\u5b9e\u65f6\u91cc\u7a0b\u8ba1<\/td>\n<\/tr>\n<tr>\n<td>publish_frame_world()<\/td>\n<td>\u53d1\u5e03\u4e16\u754c\u5750\u6807\u7cfb\u70b9\u4e91\u5e76\u4fdd\u5b58 PCD<\/td>\n<\/tr>\n<tr>\n<td>main()<\/td>\n<td>FAST-LIO2 \u4e3b\u5faa\u73af<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3 style=\"background-color:transparent\">2. preprocess.cpp \u548c preprocess.h<\/h3>\n<p>\u8fd9\u4e24\u4e2a\u6587\u4ef6\u8d1f\u8d23\u5c06\u4e0d\u540c LiDAR \u7684\u539f\u59cb\u6d88\u606f\u8f6c\u6362\u6210 FAST-LIO2 \u5185\u90e8\u7edf\u4e00\u4f7f\u7528\u7684\u70b9\u4e91\u683c\u5f0f\u3002<\/p>\n<p>\u4e3b\u8981\u529f\u80fd\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u8bfb\u53d6\u70b9\u5750\u6807&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8bfb\u53d6\u53cd\u5c04\u5f3a\u5ea6&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8bfb\u53d6\u626b\u63cf\u7ebf\u7f16\u53f7&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8bfb\u53d6\u6bcf\u4e2a\u70b9\u7684\u76f8\u5bf9\u65f6\u95f4&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5220\u9664\u8fd1\u8ddd\u79bb\u65e0\u6548\u70b9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u70b9\u4e91\u62bd\u6837&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u53ef\u9009\u7684\u7279\u5f81\u63d0\u53d6\u3002<\/p>\n<\/li>\n<\/ul>\n<p>FAST-LIO2 \u5728\u4ee3\u7801\u4e2d\u5c06\u70b9\u7684\u76f8\u5bf9\u65f6\u95f4\u4e34\u65f6\u5b58\u653e\u5728&#xff1a;<\/p>\n<p>PointXYZINormal.curvature<\/p>\n<p>\u540e\u7eed\u7684 IMU \u5904\u7406\u6a21\u5757\u4f1a\u4f7f\u7528\u8fd9\u4e2a\u65f6\u95f4\u8fdb\u884c\u9010\u70b9\u8fd0\u52a8\u7578\u53d8\u6821\u6b63\u3002<\/p>\n<h3 style=\"background-color:transparent\">3. IMU_Processing.hpp<\/h3>\n<p>\u8fd9\u4e2a\u6587\u4ef6\u4e3b\u8981\u8d1f\u8d23&#xff1a;<\/p>\n<ul>\n<li>\n<p>IMU \u521d\u59cb\u5316&#xff1b;<\/p>\n<\/li>\n<li>\n<p>IMU \u524d\u5411\u79ef\u5206&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4fdd\u5b58\u4e00\u5e27\u626b\u63cf\u8fc7\u7a0b\u4e2d\u7684\u8bbe\u5907\u72b6\u6001&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5bf9\u5f53\u524d\u70b9\u4e91\u9010\u70b9\u8fdb\u884c\u8fd0\u52a8\u8865\u507f&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u66f4\u65b0\u6ee4\u6ce2\u5668\u9884\u6d4b\u72b6\u6001\u3002<\/p>\n<\/li>\n<\/ul>\n<h3 style=\"background-color:transparent\">4. use-ikfom.hpp<\/h3>\n<p>\u8be5\u6587\u4ef6\u5b9a\u4e49\u4e86 FAST-LIO2 \u7684\u7cfb\u7edf\u72b6\u6001\u3002<\/p>\n<p>\u4e3b\u8981\u53d8\u91cf\u5305\u62ec&#xff1a;<\/p>\n<p>pos             \u8bbe\u5907\u4f4d\u7f6e<br \/>\nrot             \u8bbe\u5907\u59ff\u6001<br \/>\noffset_R_L_I    LiDAR \u5230 IMU \u7684\u65cb\u8f6c\u5916\u53c2<br \/>\noffset_T_L_I    LiDAR \u5230 IMU \u7684\u5e73\u79fb\u5916\u53c2<br \/>\nvel             \u8bbe\u5907\u901f\u5ea6<br \/>\nbg              \u9640\u87ba\u4eea\u96f6\u504f<br \/>\nba              \u52a0\u901f\u5ea6\u8ba1\u96f6\u504f<br \/>\ngrav            \u91cd\u529b\u65b9\u5411<\/p>\n<p>\u8be5\u6587\u4ef6\u8fd8\u5b9a\u4e49\u4e86&#xff1a;<\/p>\n<ul>\n<li>\n<p>IMU \u8f93\u5165&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u72b6\u6001\u4f20\u64ad\u6a21\u578b&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u72b6\u6001\u8f6c\u79fb\u96c5\u53ef\u6bd4&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8fc7\u7a0b\u566a\u58f0\u6a21\u578b\u3002<\/p>\n<\/li>\n<\/ul>\n<h3 style=\"background-color:transparent\">5. common_lib.h<\/h3>\n<p>\u8be5\u6587\u4ef6\u4e3b\u8981\u5305\u542b&#xff1a;<\/p>\n<ul>\n<li>\n<p>FAST-LIO2 \u4f7f\u7528\u7684\u70b9\u4e91\u7c7b\u578b&#xff1b;<\/p>\n<\/li>\n<li>\n<p>LiDAR \u4e0e IMU \u6570\u636e\u7ec4\u5408\u7ed3\u6784&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u77e9\u9635\u548c\u5411\u91cf\u7c7b\u578b&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5e73\u9762\u62df\u5408\u51fd\u6570&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5750\u6807\u8f6c\u6362\u5de5\u5177&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5e38\u7528\u5b8f\u5b9a\u4e49\u3002<\/p>\n<\/li>\n<\/ul>\n<h3 style=\"background-color:transparent\">6. config\/mid360.yaml<\/h3>\n<p>\u8fd9\u662f MID-360 \u5bf9\u5e94\u7684 FAST-LIO2 \u53c2\u6570\u6587\u4ef6\u3002<\/p>\n<p>\u67e5\u770b\u5b98\u65b9 mid360.yaml<\/p>\n<p>\u5b83\u4e3b\u8981\u914d\u7f6e&#xff1a;<\/p>\n<ul>\n<li>\n<p>LiDAR \u8bdd\u9898&#xff1b;<\/p>\n<\/li>\n<li>\n<p>IMU \u8bdd\u9898&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u65f6\u95f4\u540c\u6b65&#xff1b;<\/p>\n<\/li>\n<li>\n<p>LiDAR \u7c7b\u578b&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u626b\u63cf\u7ebf\u6570\u91cf&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8fd1\u8ddd\u79bb\u76f2\u533a&#xff1b;<\/p>\n<\/li>\n<li>\n<p>IMU \u566a\u58f0&#xff1b;<\/p>\n<\/li>\n<li>\n<p>LiDAR \u4e0e IMU \u5916\u53c2&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u70b9\u4e91\u53d1\u5e03&#xff1b;<\/p>\n<\/li>\n<li>\n<p>PCD \u5730\u56fe\u4fdd\u5b58\u3002<\/p>\n<\/li>\n<\/ul>\n<h3 style=\"background-color:transparent\">7. mapping_mid360.launch<\/h3>\n<p>\u8fd9\u662f MID-360 \u5bf9\u5e94\u7684 FAST-LIO2 \u542f\u52a8\u6587\u4ef6\u3002<\/p>\n<p>\u67e5\u770b\u5b98\u65b9 mapping_mid360.launch<\/p>\n<p>\u5b83\u4e3b\u8981\u8d1f\u8d23&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u52a0\u8f7d mid360.yaml&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8bbe\u7f6e\u70b9\u4e91\u964d\u91c7\u6837\u53c2\u6570&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u8bbe\u7f6e\u6ee4\u6ce2\u5668\u6700\u5927\u8fed\u4ee3\u6b21\u6570&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u542f\u52a8 fastlio_mapping \u8282\u70b9&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u542f\u52a8 RViz\u3002<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u5341\u4e8c\u3001Ubuntu 20.04 \u548c MID-360 \u843d\u5730\u8fd0\u884c<\/h2>\n<p>\u4e0b\u9762\u4f7f\u7528\u4ee5\u4e0b\u73af\u5883&#xff1a;<\/p>\n<p>Ubuntu 20.04<br \/>\nROS Noetic<br \/>\nLivox MID-360<br \/>\nMID-360 \u5185\u7f6e IMU<br \/>\nFAST-LIO2 ROS1<\/p>\n<p>\u4ee5\u4e0b\u6b65\u9aa4\u9ed8\u8ba4\u5df2\u7ecf\u5b8c\u6210 ROS Noetic \u7684\u5b89\u88c5\u3002<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u5341\u4e09\u3001\u5b89\u88c5\u57fa\u7840\u4f9d\u8d56<\/h2>\n<p>sudo apt update<\/p>\n<p>sudo apt install -y \\\\<br \/>\n    git \\\\<br \/>\n    cmake \\\\<br \/>\n    build-essential \\\\<br \/>\n    libeigen3-dev \\\\<br \/>\n    libpcl-dev \\\\<br \/>\n    libapr1-dev \\\\<br \/>\n    ros-noetic-pcl-ros \\\\<br \/>\n    ros-noetic-eigen-conversions \\\\<br \/>\n    ros-noetic-tf \\\\<br \/>\n    ros-noetic-rosbag<\/p>\n<p>\u52a0\u8f7d ROS Noetic \u73af\u5883&#xff1a;<\/p>\n<p>source \/opt\/ros\/noetic\/setup.bash<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u5341\u56db\u3001\u5b89\u88c5 Livox-SDK2<\/h2>\n<p>MID-360 \u4f7f\u7528 Livox-SDK2&#xff0c;\u800c\u4e0d\u662f\u65e7\u7248 Livox-SDK\u3002<\/p>\n<p>cd ~<\/p>\n<p>git clone https:\/\/github.com\/Livox-SDK\/Livox-SDK2.git<\/p>\n<p>cd Livox-SDK2<\/p>\n<p>mkdir build<\/p>\n<p>cd build<\/p>\n<p>cmake ..<\/p>\n<p>make -j4<\/p>\n<p>sudo make install<\/p>\n<p>\u5b98\u65b9\u5b89\u88c5\u8bf4\u660e&#xff1a;<\/p>\n<p>Livox-SDK2 \u5b98\u65b9\u4ed3\u5e93<\/p>\n<p>\u5b89\u88c5\u5b8c\u6210\u540e&#xff0c;\u76f8\u5173\u5e93\u6587\u4ef6\u901a\u5e38\u4f4d\u4e8e&#xff1a;<\/p>\n<p>\/usr\/local\/lib<\/p>\n<p>\u76f8\u5173\u5934\u6587\u4ef6\u901a\u5e38\u4f4d\u4e8e&#xff1a;<\/p>\n<p>\/usr\/local\/include<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u5341\u4e94\u3001\u521b\u5efa ROS \u5de5\u4f5c\u7a7a\u95f4<\/h2>\n<p>mkdir -p ~\/fastlio_ws\/src<\/p>\n<p>cd ~\/fastlio_ws\/src<\/p>\n<p>\u4e0b\u8f7d MID-360 \u9a71\u52a8&#xff1a;<\/p>\n<p>git clone https:\/\/github.com\/Livox-SDK\/livox_ros_driver2.git<\/p>\n<p>\u4e0b\u8f7d FAST-LIO2&#xff0c;\u5e76\u540c\u65f6\u4e0b\u8f7d ikd-Tree \u5b50\u6a21\u5757&#xff1a;<\/p>\n<p>git clone &#8211;recursive https:\/\/github.com\/hku-mars\/FAST_LIO.git<\/p>\n<p>\u5982\u679c\u4e4b\u524d\u4e0b\u8f7d FAST_LIO \u65f6\u6ca1\u6709\u6dfb\u52a0 &#8211;recursive&#xff0c;\u9700\u8981\u6267\u884c&#xff1a;<\/p>\n<p>cd ~\/fastlio_ws\/src\/FAST_LIO<\/p>\n<p>git submodule update &#8211;init &#8211;recursive<\/p>\n<p>\u5426\u5219\u7f16\u8bd1\u65f6\u53ef\u80fd\u51fa\u73b0&#xff1a;<\/p>\n<p>ikd_Tree.h: No such file or directory<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u5341\u516d\u3001\u5904\u7406 livox_ros_driver2 \u517c\u5bb9\u95ee\u9898<\/h2>\n<p>\u8fd9\u662f MID-360 \u8fd0\u884c FAST-LIO2 \u65f6\u6700\u5bb9\u6613\u9047\u5230\u7684\u95ee\u9898\u4e4b\u4e00\u3002<\/p>\n<p>\u5b98\u65b9 FAST_LIO \u4ed3\u5e93\u867d\u7136\u5df2\u7ecf\u63d0\u4f9b&#xff1a;<\/p>\n<p>config\/mid360.yaml<br \/>\nlaunch\/mapping_mid360.launch<\/p>\n<p>\u4f46\u662f\u90e8\u5206\u6e90\u7801\u548c\u7f16\u8bd1\u914d\u7f6e\u4e2d\u4ecd\u7136\u5f15\u7528\u65e7\u7248&#xff1a;<\/p>\n<p>livox_ros_driver<\/p>\n<p>MID-360 \u5b9e\u9645\u4f7f\u7528\u7684\u662f&#xff1a;<\/p>\n<p>livox_ros_driver2<\/p>\n<p>\u9700\u8981\u4fee\u6539\u4ee5\u4e0b\u6587\u4ef6&#xff1a;<\/p>\n<p>CMakeLists.txt<br \/>\npackage.xml<br \/>\nsrc\/preprocess.h<br \/>\nsrc\/preprocess.cpp<br \/>\nsrc\/laserMapping.cpp<\/p>\n<p>\u8fdb\u5165 FAST_LIO \u76ee\u5f55&#xff1a;<\/p>\n<p>cd ~\/fastlio_ws\/src\/FAST_LIO<\/p>\n<p>\u6267\u884c\u517c\u5bb9\u66ff\u6362&#xff1a;<\/p>\n<p>perl -pi -e &#039;s\/livox_ros_driver(?!2)\/livox_ros_driver2\/g&#039; \\\\<br \/>\n    CMakeLists.txt \\\\<br \/>\n    package.xml \\\\<br \/>\n    src\/preprocess.h \\\\<br \/>\n    src\/preprocess.cpp \\\\<br \/>\n    src\/laserMapping.cpp<\/p>\n<p>\u68c0\u67e5\u66ff\u6362\u7ed3\u679c&#xff1a;<\/p>\n<p>rg -n &#034;livox_ros_driver2&#034; \\\\<br \/>\n    CMakeLists.txt \\\\<br \/>\n    package.xml \\\\<br \/>\n    src\/preprocess.h \\\\<br \/>\n    src\/preprocess.cpp \\\\<br \/>\n    src\/laserMapping.cpp<\/p>\n<p>\u4f8b\u5982&#xff0c;\u539f\u6765\u7684&#xff1a;<\/p>\n<p>#include &lt;livox_ros_driver\/CustomMsg.h&gt;<\/p>\n<p>\u5e94\u5f53\u53d8\u6210&#xff1a;<\/p>\n<p>#include &lt;livox_ros_driver2\/CustomMsg.h&gt;<\/p>\n<p>\u539f\u6765\u7684\u547d\u540d\u7a7a\u95f4&#xff1a;<\/p>\n<p>livox_ros_driver::CustomMsg<\/p>\n<p>\u5e94\u5f53\u53d8\u6210&#xff1a;<\/p>\n<p>livox_ros_driver2::CustomMsg<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u5341\u4e03\u3001\u914d\u7f6e\u7535\u8111\u548c MID-360 \u7684 IP<\/h2>\n<p>MID-360 \u901a\u8fc7\u7f51\u7ebf\u8fde\u63a5\u7535\u8111&#xff0c;\u56e0\u6b64\u7535\u8111\u7f51\u5361\u548c\u96f7\u8fbe\u5fc5\u987b\u4f4d\u4e8e\u540c\u4e00\u4e2a\u7f51\u6bb5\u3002<\/p>\n<p>\u5b98\u65b9\u9a71\u52a8\u793a\u4f8b\u4e00\u822c\u4f7f\u7528&#xff1a;<\/p>\n<p>\u7535\u8111 IP&#xff1a;192.168.1.5<br \/>\n\u96f7\u8fbe IP&#xff1a;192.168.1.12<br \/>\n\u5b50\u7f51\u63a9\u7801&#xff1a;255.255.255.0<\/p>\n<p>\u4f46\u4e0d\u540c\u8bbe\u5907\u7684\u5b9e\u9645\u96f7\u8fbe IP \u53ef\u80fd\u4e0d\u540c&#xff0c;\u5e94\u4ee5 Livox Viewer 2 \u4e2d\u663e\u793a\u7684\u4fe1\u606f\u4e3a\u51c6\u3002<\/p>\n<p>\u5728 Ubuntu \u4e2d\u8fdb\u5165&#xff1a;<\/p>\n<p>\u8bbe\u7f6e \u2192 \u7f51\u7edc \u2192 \u6709\u7ebf\u7f51\u7edc \u2192 IPv4<\/p>\n<p>\u8bbe\u7f6e\u4e3a&#xff1a;<\/p>\n<p>IPv4 \u65b9\u6cd5&#xff1a;\u624b\u52a8<br \/>\n\u5730\u5740&#xff1a;192.168.1.5<br \/>\n\u5b50\u7f51\u63a9\u7801&#xff1a;255.255.255.0<br \/>\n\u7f51\u5173&#xff1a;\u53ef\u4ee5\u7559\u7a7a<\/p>\n<p>\u7136\u540e\u6d4b\u8bd5\u7f51\u7edc&#xff1a;<\/p>\n<p>ping -c 4 192.168.1.12<\/p>\n<p>\u63a5\u4e0b\u6765\u4fee\u6539\u9a71\u52a8\u914d\u7f6e&#xff1a;<\/p>\n<p>nano ~\/fastlio_ws\/src\/livox_ros_driver2\/config\/MID360_config.json<\/p>\n<p>\u91cd\u70b9\u68c0\u67e5\u7535\u8111 IP&#xff1a;<\/p>\n<p>&#034;host_net_info&#034;: {<br \/>\n  &#034;cmd_data_ip&#034;: &#034;192.168.1.5&#034;,<br \/>\n  &#034;push_msg_ip&#034;: &#034;192.168.1.5&#034;,<br \/>\n  &#034;point_data_ip&#034;: &#034;192.168.1.5&#034;,<br \/>\n  &#034;imu_data_ip&#034;: &#034;192.168.1.5&#034;<br \/>\n}<\/p>\n<p>\u68c0\u67e5\u96f7\u8fbe IP&#xff1a;<\/p>\n<p>&#034;lidar_configs&#034;: [<br \/>\n  {<br \/>\n    &#034;ip&#034;: &#034;192.168.1.12&#034;<br \/>\n  }<br \/>\n]<\/p>\n<p>\u5176\u4e2d&#xff1a;<\/p>\n<ul>\n<li>\n<p>host_net_info \u586b\u5199\u7535\u8111\u6709\u7ebf\u7f51\u5361 IP&#xff1b;<\/p>\n<\/li>\n<li>\n<p>lidar_configs \u4e2d\u7684 ip \u586b\u5199 MID-360 \u7684\u5b9e\u9645 IP\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u5b98\u65b9\u914d\u7f6e\u6587\u4ef6&#xff1a;<\/p>\n<p>MID360_config.json<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u5341\u516b\u3001\u7f16\u8bd1\u5de5\u4f5c\u7a7a\u95f4<\/h2>\n<p>\u6267\u884c&#xff1a;<\/p>\n<p>source \/opt\/ros\/noetic\/setup.bash<\/p>\n<p>cd ~\/fastlio_ws\/src\/livox_ros_driver2<\/p>\n<p>.\/build.sh ROS1<\/p>\n<p>\u8be5\u811a\u672c\u4f1a\u8c03\u7528&#xff1a;<\/p>\n<p>catkin_make -DROS_EDITION&#061;ROS1<\/p>\n<p>\u5e76\u7f16\u8bd1\u6574\u4e2a fastlio_ws \u5de5\u4f5c\u7a7a\u95f4\u3002<\/p>\n<p>\u4ee5\u540e\u91cd\u65b0\u7f16\u8bd1\u65f6&#xff0c;\u53ef\u4ee5\u6267\u884c&#xff1a;<\/p>\n<p>source \/opt\/ros\/noetic\/setup.bash<\/p>\n<p>cd ~\/fastlio_ws<\/p>\n<p>catkin_make -DROS_EDITION&#061;ROS1<\/p>\n<p>\u7f16\u8bd1\u6210\u529f\u540e\u52a0\u8f7d\u5de5\u4f5c\u7a7a\u95f4&#xff1a;<\/p>\n<p>source ~\/fastlio_ws\/devel\/setup.bash<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u5341\u4e5d\u3001\u5355\u72ec\u6d4b\u8bd5 MID-360 \u9a71\u52a8<\/h2>\n<p>\u6253\u5f00\u7b2c\u4e00\u4e2a\u7ec8\u7aef&#xff1a;<\/p>\n<p>source \/opt\/ros\/noetic\/setup.bash<\/p>\n<p>source ~\/fastlio_ws\/devel\/setup.bash<\/p>\n<p>roslaunch livox_ros_driver2 msg_MID360.launch<\/p>\n<p>\u8fd9\u91cc\u5efa\u8bae\u4f7f\u7528&#xff1a;<\/p>\n<p>msg_MID360.launch<\/p>\n<p>\u4e0d\u8981\u4f7f\u7528&#xff1a;<\/p>\n<p>rviz_MID360.launch<\/p>\n<p>\u539f\u56e0\u662f&#xff1a;<\/p>\n<ul>\n<li>\n<p>msg_MID360.launch \u53d1\u5e03 Livox \u81ea\u5b9a\u4e49 CustomMsg&#xff1b;<\/p>\n<\/li>\n<li>\n<p>CustomMsg \u4e2d\u5305\u542b\u6bcf\u4e2a\u70b9\u7684 offset_time&#xff1b;<\/p>\n<\/li>\n<li>\n<p>FAST-LIO2 \u9700\u8981\u70b9\u7ea7\u65f6\u95f4\u4fe1\u606f\u8fdb\u884c\u8fd0\u52a8\u7578\u53d8\u6821\u6b63\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u6253\u5f00\u7b2c\u4e8c\u4e2a\u7ec8\u7aef&#xff0c;\u67e5\u770b\u8bdd\u9898&#xff1a;<\/p>\n<p>source \/opt\/ros\/noetic\/setup.bash<\/p>\n<p>source ~\/fastlio_ws\/devel\/setup.bash<\/p>\n<p>rostopic list<\/p>\n<p>\u6b63\u5e38\u60c5\u51b5\u4e0b\u5e94\u5f53\u770b\u5230&#xff1a;<\/p>\n<p>\/livox\/lidar<br \/>\n\/livox\/imu<\/p>\n<p>\u68c0\u67e5\u70b9\u4e91\u6d88\u606f\u7c7b\u578b&#xff1a;<\/p>\n<p>rostopic type \/livox\/lidar<\/p>\n<p>\u9884\u671f\u7ed3\u679c&#xff1a;<\/p>\n<p>livox_ros_driver2\/CustomMsg<\/p>\n<p>\u68c0\u67e5\u70b9\u4e91\u9891\u7387&#xff1a;<\/p>\n<p>rostopic hz \/livox\/lidar<\/p>\n<p>\u68c0\u67e5 IMU \u9891\u7387&#xff1a;<\/p>\n<p>rostopic hz \/livox\/imu<\/p>\n<p>\u5982\u679c\u8fd9\u4e24\u4e2a\u8bdd\u9898\u6ca1\u6709\u6570\u636e&#xff0c;\u6682\u65f6\u4e0d\u8981\u542f\u52a8 FAST-LIO2&#xff0c;\u5e94\u4f18\u5148\u68c0\u67e5&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u7535\u8111\u7f51\u5361 IP&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u96f7\u8fbe IP&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u7f51\u7ebf\u8fde\u63a5&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u96f7\u8fbe\u4f9b\u7535&#xff1b;<\/p>\n<\/li>\n<li>\n<p>MID360_config.json&#xff1b;<\/p>\n<\/li>\n<li>\n<p>Ubuntu \u9632\u706b\u5899\u3002<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e8c\u5341\u3001\u68c0\u67e5 FAST-LIO2 \u7684 MID-360 \u53c2\u6570<\/h2>\n<p>\u6253\u5f00&#xff1a;<\/p>\n<p>nano ~\/fastlio_ws\/src\/FAST_LIO\/config\/mid360.yaml<\/p>\n<p>\u9996\u5148\u68c0\u67e5\u8bdd\u9898&#xff1a;<\/p>\n<p>common:<br \/>\n    lid_topic: &#034;\/livox\/lidar&#034;<br \/>\n    imu_topic: &#034;\/livox\/imu&#034;<br \/>\n    time_sync_en: false<br \/>\n    time_offset_lidar_to_imu: 0.0<\/p>\n<p>\u8fd9\u91cc\u7684\u8bdd\u9898\u540d\u79f0\u5fc5\u987b\u548c rostopic list \u4e2d\u5b8c\u5168\u4e00\u81f4\u3002<\/p>\n<p>MID-360 \u9884\u5904\u7406\u53c2\u6570&#xff1a;<\/p>\n<p>preprocess:<br \/>\n    lidar_type: 1<br \/>\n    scan_line: 4<br \/>\n    blind: 0.5<\/p>\n<p>\u53c2\u6570\u542b\u4e49\u5982\u4e0b\u3002<\/p>\n<table>\n<tr>\u53c2\u6570\u542b\u4e49<\/tr>\n<tbody>\n<tr>\n<td>lidar_type: 1<\/td>\n<td>\u4f7f\u7528 Livox \u81ea\u5b9a\u4e49\u70b9\u4e91\u5904\u7406\u65b9\u5f0f<\/td>\n<\/tr>\n<tr>\n<td>scan_line: 4<\/td>\n<td>MID-360 \u5bf9\u5e94\u7684\u626b\u63cf\u7ebf\u914d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>blind: 0.5<\/td>\n<td>\u5220\u9664\u8ddd\u79bb\u96f7\u8fbe 0.5 \u7c73\u4ee5\u5185\u7684\u70b9<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5916\u53c2\u914d\u7f6e&#xff1a;<\/p>\n<p>mapping:<br \/>\n    extrinsic_est_en: false<br \/>\n    extrinsic_T: [-0.011, -0.02329, 0.04412]<br \/>\n    extrinsic_R: [1, 0, 0,<br \/>\n                  0, 1, 0,<br \/>\n                  0, 0, 1]<\/p>\n<p>\u5728 FAST-LIO2 \u4e2d&#xff0c;\u8fd9\u7ec4\u53c2\u6570\u8868\u793a&#xff1a;<\/p>\n<p>LiDAR \u5728 IMU \u5750\u6807\u7cfb\u4e2d\u7684\u4f4d\u7f6e\u548c\u59ff\u6001<\/p>\n<p>\u5982\u679c\u4f7f\u7528 MID-360 \u5185\u7f6e IMU&#xff0c;\u53ef\u4ee5\u5148\u4f7f\u7528\u5b98\u65b9\u793a\u4f8b\u53c2\u6570\u3002<\/p>\n<p>\u5982\u679c\u4f7f\u7528\u5916\u7f6e IMU&#xff0c;\u5219\u5fc5\u987b\u91cd\u65b0\u6807\u5b9a LiDAR \u548c IMU \u7684\u5916\u53c2&#xff0c;\u4e0d\u80fd\u76f4\u63a5\u7167\u642c MID-360 \u5185\u7f6e IMU \u53c2\u6570\u3002<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e8c\u5341\u4e00\u3001\u542f\u52a8 FAST-LIO2<\/h2>\n<p>\u4fdd\u6301 MID-360 \u9a71\u52a8\u7ec8\u7aef\u7ee7\u7eed\u8fd0\u884c\u3002<\/p>\n<p>\u6253\u5f00\u65b0\u7684\u7ec8\u7aef&#xff1a;<\/p>\n<p>source \/opt\/ros\/noetic\/setup.bash<\/p>\n<p>source ~\/fastlio_ws\/devel\/setup.bash<\/p>\n<p>roslaunch fast_lio mapping_mid360.launch<\/p>\n<p>\u6b63\u5e38\u60c5\u51b5\u4e0b\u4f1a\u81ea\u52a8\u6253\u5f00 RViz\u3002<\/p>\n<p>\u542f\u52a8\u540e\u5148\u8ba9 MID-360 \u9759\u6b62\u51e0\u79d2\u949f&#xff0c;\u7b49\u5f85\u7ec8\u7aef\u51fa\u73b0&#xff1a;<\/p>\n<p>IMU Initial Done<\/p>\n<p>\u5b8c\u6210\u521d\u59cb\u5316\u540e&#xff0c;\u518d\u7f13\u6162\u62ff\u8d77\u8bbe\u5907\u5f00\u59cb\u626b\u63cf\u3002<\/p>\n<p>\u7b2c\u4e00\u6b21\u6d4b\u8bd5\u65f6\u5efa\u8bae&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4e0d\u8981\u5feb\u901f\u7529\u52a8\u8bbe\u5907&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4e0d\u8981\u5728\u542f\u52a8\u540e\u7acb\u523b\u5927\u89d2\u5ea6\u65cb\u8f6c&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5c3d\u91cf\u907f\u514d\u4e00\u76f4\u5bf9\u7740\u7eaf\u767d\u5899&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u9009\u62e9\u6709\u5899\u89d2\u3001\u95e8\u6846\u3001\u684c\u6905\u7b49\u7ed3\u6784\u7684\u73af\u5883&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4fdd\u6301\u8fd0\u52a8\u8fde\u7eed\u548c\u5e73\u7a33&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u786e\u4fdd MID-360 \u5b89\u88c5\u7262\u56fa\u3002<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e8c\u5341\u4e8c\u3001FAST-LIO2 \u7684\u8f93\u51fa\u8bdd\u9898<\/h2>\n<p>\u8fd0\u884c\u540e\u53ef\u4ee5\u4f7f\u7528&#xff1a;<\/p>\n<p>rostopic list<\/p>\n<p>\u67e5\u770b\u8f93\u51fa\u3002<\/p>\n<table>\n<tr>\u8bdd\u9898\u4e3b\u8981\u4f5c\u7528<\/tr>\n<tbody>\n<tr>\n<td>\/Odometry<\/td>\n<td>FAST-LIO2 \u4f30\u8ba1\u7684\u5b9e\u65f6\u4f4d\u59ff<\/td>\n<\/tr>\n<tr>\n<td>\/path<\/td>\n<td>\u8bbe\u5907\u8fd0\u52a8\u8f68\u8ff9<\/td>\n<\/tr>\n<tr>\n<td>\/cloud_registered<\/td>\n<td>\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u914d\u51c6\u70b9\u4e91<\/td>\n<\/tr>\n<tr>\n<td>\/cloud_registered_body<\/td>\n<td>IMU \u673a\u4f53\u5750\u6807\u7cfb\u4e0b\u7684\u70b9\u4e91<\/td>\n<\/tr>\n<tr>\n<td>\/cloud_effected<\/td>\n<td>\u53c2\u4e0e\u6ee4\u6ce2\u66f4\u65b0\u7684\u6709\u6548\u70b9<\/td>\n<\/tr>\n<tr>\n<td>\/Laser_map<\/td>\n<td>\u5730\u56fe\u70b9\u4e91&#xff0c;\u6e90\u7801\u4e2d\u9ed8\u8ba4\u53ef\u80fd\u672a\u6301\u7eed\u53d1\u5e03<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u67e5\u770b\u5b9e\u65f6\u91cc\u7a0b\u8ba1&#xff1a;<\/p>\n<p>rostopic echo \/Odometry<\/p>\n<p>\u67e5\u770b\u91cc\u7a0b\u8ba1\u9891\u7387&#xff1a;<\/p>\n<p>rostopic hz \/Odometry<\/p>\n<p>\u5bf9\u4e8e\u624b\u6301\u626b\u63cf\u7cfb\u7edf&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u5b9e\u65f6\u5b9a\u4f4d\u4e3b\u8981\u4f7f\u7528 \/Odometry&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5b9e\u65f6\u8f68\u8ff9\u663e\u793a\u4e3b\u8981\u4f7f\u7528 \/path&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4e09\u7ef4\u70b9\u4e91\u663e\u793a\u4e3b\u8981\u4f7f\u7528 \/cloud_registered\u3002<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e8c\u5341\u4e09\u3001\u5f55\u5236\u548c\u64ad\u653e rosbag<\/h2>\n<p>\u8fd0\u884c MID-360 \u9a71\u52a8\u540e&#xff0c;\u53ef\u4ee5\u8bb0\u5f55\u539f\u59cb\u70b9\u4e91\u548c IMU&#xff1a;<\/p>\n<p>cd ~<\/p>\n<p>rosbag record -O mid360_data.bag \\\\<br \/>\n    \/livox\/lidar \\\\<br \/>\n    \/livox\/imu<\/p>\n<p>\u5f55\u5236\u7ed3\u675f\u540e\u6309&#xff1a;<\/p>\n<p>Ctrl &#043; C<\/p>\n<p>\u67e5\u770b rosbag \u4fe1\u606f&#xff1a;<\/p>\n<p>rosbag info mid360_data.bag<\/p>\n<p>\u79bb\u7ebf\u8fd0\u884c\u65f6&#xff0c;\u5148\u542f\u52a8 FAST-LIO2&#xff1a;<\/p>\n<p>source \/opt\/ros\/noetic\/setup.bash<\/p>\n<p>source ~\/fastlio_ws\/devel\/setup.bash<\/p>\n<p>roslaunch fast_lio mapping_mid360.launch<\/p>\n<p>\u7136\u540e\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u64ad\u653e&#xff1a;<\/p>\n<p>rosbag play mid360_data.bag<\/p>\n<p>\u5982\u679c\u7535\u8111\u5904\u7406\u901f\u5ea6\u4e0d\u8db3&#xff0c;\u53ef\u4ee5\u964d\u4f4e\u64ad\u653e\u901f\u5ea6&#xff1a;<\/p>\n<p>rosbag play -r 0.5 mid360_data.bag<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e8c\u5341\u56db\u3001\u4fdd\u5b58 PCD \u70b9\u4e91\u5730\u56fe<\/h2>\n<p>\u6253\u5f00&#xff1a;<\/p>\n<p>nano ~\/fastlio_ws\/src\/FAST_LIO\/config\/mid360.yaml<\/p>\n<p>\u68c0\u67e5&#xff1a;<\/p>\n<p>pcd_save:<br \/>\n    pcd_save_en: true<br \/>\n    interval: -1<\/p>\n<p>\u53c2\u6570\u542b\u4e49\u5982\u4e0b\u3002<\/p>\n<table>\n<tr>\u53c2\u6570\u542b\u4e49<\/tr>\n<tbody>\n<tr>\n<td>pcd_save_en: true<\/td>\n<td>\u5f00\u542f PCD \u5730\u56fe\u4fdd\u5b58<\/td>\n<\/tr>\n<tr>\n<td>interval: -1<\/td>\n<td>\u6240\u6709\u70b9\u5b58\u5165\u5185\u5b58&#xff0c;\u7ed3\u675f\u65f6\u4fdd\u5b58\u4e3a\u4e00\u4e2a\u6587\u4ef6<\/td>\n<\/tr>\n<tr>\n<td>interval: 500<\/td>\n<td>\u6bcf\u7d2f\u8ba1\u7ea6 500 \u5e27\u4fdd\u5b58\u4e00\u4e2a PCD \u6587\u4ef6<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5982\u679c\u626b\u63cf\u65f6\u95f4\u8f83\u957f&#xff0c;\u4e0d\u5efa\u8bae\u4e00\u76f4\u4f7f\u7528&#xff1a;<\/p>\n<p>interval: -1<\/p>\n<p>\u56e0\u4e3a\u6240\u6709\u70b9\u4f1a\u6301\u7eed\u4fdd\u5b58\u5728\u5185\u5b58\u4e2d&#xff0c;\u53ef\u80fd\u5bfc\u81f4\u5185\u5b58\u4e0d\u8db3\u3002<\/p>\n<p>\u53ef\u4ee5\u4fee\u6539\u4e3a&#xff1a;<\/p>\n<p>pcd_save:<br \/>\n    pcd_save_en: true<br \/>\n    interval: 500<\/p>\n<p>\u8fd0\u884c\u7ed3\u675f\u540e&#xff0c;\u5e94\u5f53\u4f7f\u7528&#xff1a;<\/p>\n<p>Ctrl &#043; C<\/p>\n<p>\u6b63\u5e38\u5173\u95ed FAST-LIO2\u3002<\/p>\n<p>\u5730\u56fe\u901a\u5e38\u4fdd\u5b58\u5728&#xff1a;<\/p>\n<p>~\/fastlio_ws\/src\/FAST_LIO\/PCD\/<\/p>\n<p>\u53ef\u80fd\u751f\u6210&#xff1a;<\/p>\n<p>scans.pcd<br \/>\nscans_1.pcd<br \/>\nscans_2.pcd<\/p>\n<p>\u4f7f\u7528 PCL \u67e5\u770b&#xff1a;<\/p>\n<p>pcl_viewer ~\/fastlio_ws\/src\/FAST_LIO\/PCD\/scans.pcd<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e8c\u5341\u4e94\u3001\u5173\u952e\u8fd0\u884c\u53c2\u6570\u89e3\u91ca<\/h2>\n<h3 style=\"background-color:transparent\">1. point_filter_num<\/h3>\n<p>\u4f4d\u4e8e&#xff1a;<\/p>\n<p>launch\/mapping_mid360.launch<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>&lt;param name&#061;&#034;point_filter_num&#034; type&#061;&#034;int&#034; value&#061;&#034;3&#034;\/&gt;<\/p>\n<p>\u5b83\u8868\u793a\u6309\u7167\u4e00\u5b9a\u95f4\u9694\u4fdd\u7559\u6fc0\u5149\u70b9\u3002<\/p>\n<ul>\n<li>\n<p>\u6570\u503c\u8d8a\u5c0f&#xff0c;\u4fdd\u7559\u70b9\u8d8a\u591a&#xff0c;\u5730\u56fe\u7ec6\u8282\u8d8a\u4e30\u5bcc&#xff0c;\u8ba1\u7b97\u91cf\u8d8a\u5927&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u6570\u503c\u8d8a\u5927&#xff0c;\u4fdd\u7559\u70b9\u8d8a\u5c11&#xff0c;\u8fd0\u884c\u901f\u5ea6\u8d8a\u5feb&#xff0c;\u7ec6\u8282\u53ef\u80fd\u51cf\u5c11\u3002<\/p>\n<\/li>\n<\/ul>\n<p>MID-360 \u53ef\u4ee5\u5148\u4f7f\u7528\u9ed8\u8ba4\u503c&#xff1a;<\/p>\n<p>3<\/p>\n<h3 style=\"background-color:transparent\">2. filter_size_surf<\/h3>\n<p>&lt;param name&#061;&#034;filter_size_surf&#034; type&#061;&#034;double&#034; value&#061;&#034;0.5&#034;\/&gt;<\/p>\n<p>\u5b83\u63a7\u5236\u5f53\u524d\u5e27\u70b9\u4e91\u7684\u4f53\u7d20\u964d\u91c7\u6837\u5c3a\u5bf8\u3002<\/p>\n<ul>\n<li>\n<p>\u6570\u503c\u51cf\u5c0f&#xff1a;\u70b9\u4e91\u66f4\u5bc6&#xff0c;\u8ba1\u7b97\u91cf\u589e\u52a0&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u6570\u503c\u589e\u5927&#xff1a;\u70b9\u4e91\u66f4\u7a00\u758f&#xff0c;\u8fd0\u884c\u901f\u5ea6\u63d0\u9ad8\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u5ba4\u5185\u7cbe\u7ec6\u626b\u63cf\u53ef\u4ee5\u5c1d\u8bd5&#xff1a;<\/p>\n<p>0.2&#xff5e;0.4<\/p>\n<p>\u4f46\u9700\u8981\u540c\u65f6\u89c2\u5bdf CPU \u5360\u7528\u548c\u5b9e\u65f6\u6027\u3002<\/p>\n<h3 style=\"background-color:transparent\">3. filter_size_map<\/h3>\n<p>&lt;param name&#061;&#034;filter_size_map&#034; type&#061;&#034;double&#034; value&#061;&#034;0.5&#034;\/&gt;<\/p>\n<p>\u5b83\u63a7\u5236\u5730\u56fe\u70b9\u4e91\u7684\u5bc6\u5ea6\u3002<\/p>\n<ul>\n<li>\n<p>\u6570\u503c\u8fc7\u5927&#xff1a;\u5730\u56fe\u7ec6\u8282\u4e0d\u8db3&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u6570\u503c\u8fc7\u5c0f&#xff1a;\u5730\u56fe\u70b9\u6570\u548c\u5185\u5b58\u5360\u7528\u5feb\u901f\u589e\u52a0\u3002<\/p>\n<\/li>\n<\/ul>\n<h3 style=\"background-color:transparent\">4. max_iteration<\/h3>\n<p>&lt;param name&#061;&#034;max_iteration&#034; type&#061;&#034;int&#034; value&#061;&#034;3&#034;\/&gt;<\/p>\n<p>\u8868\u793a\u6bcf\u5e27\u6ee4\u6ce2\u66f4\u65b0\u7684\u6700\u5927\u8fed\u4ee3\u6b21\u6570\u3002<\/p>\n<p>\u589e\u52a0\u8fed\u4ee3\u6b21\u6570\u53ef\u80fd\u63d0\u9ad8\u6536\u655b\u80fd\u529b&#xff0c;\u4f46\u4e5f\u4f1a\u589e\u52a0\u8ba1\u7b97\u65f6\u95f4\u3002<\/p>\n<h3 style=\"background-color:transparent\">5. blind<\/h3>\n<p>blind: 0.5<\/p>\n<p>\u8868\u793a\u5220\u9664\u8ddd\u79bb\u96f7\u8fbe\u8fc7\u8fd1\u7684\u70b9\u3002<\/p>\n<p>\u5982\u679c\u8bbe\u5907\u5468\u56f4\u5b58\u5728\u5927\u91cf\u8fd1\u8ddd\u79bb\u566a\u70b9&#xff0c;\u53ef\u4ee5\u9002\u5f53\u589e\u5927&#xff1b;\u5982\u679c\u9700\u8981\u626b\u63cf\u8fd1\u8ddd\u79bb\u7269\u4f53&#xff0c;\u53ef\u4ee5\u9002\u5f53\u51cf\u5c0f&#xff0c;\u4f46\u4e0d\u80fd\u5ffd\u7565 MID-360 \u672c\u8eab\u7684\u8fd1\u8ddd\u79bb\u6d4b\u91cf\u9650\u5236\u3002<\/p>\n<h3 style=\"background-color:transparent\">6. time_sync_en<\/h3>\n<p>time_sync_en: false<\/p>\n<p>\u53ea\u6709\u5728\u65e0\u6cd5\u8fdb\u884c\u53ef\u9760\u65f6\u95f4\u540c\u6b65\u65f6&#xff0c;\u624d\u8003\u8651\u542f\u7528\u8f6f\u4ef6\u65f6\u95f4\u540c\u6b65\u3002<\/p>\n<p>\u8f6f\u4ef6\u65f6\u95f4\u540c\u6b65\u4e0d\u80fd\u5b8c\u5168\u66ff\u4ee3\u53ef\u9760\u7684\u786c\u4ef6\u540c\u6b65\u3002\u5bf9\u4e8e MID-360 \u5185\u7f6e IMU&#xff0c;\u4e00\u822c\u5148\u4fdd\u6301\u8be5\u53c2\u6570\u4e3a false\u3002<\/p>\n<h3 style=\"background-color:transparent\">7. extrinsic_est_en<\/h3>\n<p>extrinsic_est_en: false<\/p>\n<p>\u5982\u679c\u5df2\u7ecf\u77e5\u9053\u51c6\u786e\u7684 LiDAR \u4e0e IMU \u5916\u53c2&#xff0c;\u5efa\u8bae\u8bbe\u4e3a&#xff1a;<\/p>\n<p>false<\/p>\n<p>\u5982\u679c\u4f7f\u7528\u5916\u7f6e IMU \u4e14\u5916\u53c2\u672a\u77e5&#xff0c;\u5e94\u5148\u8fdb\u884c\u4e13\u95e8\u7684 LiDAR\u2013IMU \u6807\u5b9a\u3002<\/p>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e8c\u5341\u516d\u3001\u5e38\u89c1\u95ee\u9898\u53ca\u89e3\u51b3\u65b9\u6cd5<\/h2>\n<h3 style=\"background-color:transparent\">1. \u627e\u4e0d\u5230 livox_ros_driver\/CustomMsg.h<\/h3>\n<p>\u62a5\u9519\u793a\u4f8b&#xff1a;<\/p>\n<p>fatal error: livox_ros_driver\/CustomMsg.h:<br \/>\nNo such file or directory<\/p>\n<p>\u539f\u56e0\u662f FAST_LIO \u4ecd\u7136\u4f9d\u8d56\u65e7\u7248 livox_ros_driver\u3002<\/p>\n<p>\u9700\u8981\u5c06\u4ee5\u4e0b\u6587\u4ef6\u4e2d\u7684 livox_ros_driver \u66ff\u6362\u4e3a livox_ros_driver2&#xff1a;<\/p>\n<p>CMakeLists.txt<br \/>\npackage.xml<br \/>\nsrc\/preprocess.h<br \/>\nsrc\/preprocess.cpp<br \/>\nsrc\/laserMapping.cpp<\/p>\n<p>\u7136\u540e\u91cd\u65b0\u7f16\u8bd1&#xff1a;<\/p>\n<p>cd ~\/fastlio_ws<\/p>\n<p>catkin_make -DROS_EDITION&#061;ROS1<\/p>\n<h3 style=\"background-color:transparent\">2. \u627e\u4e0d\u5230 livox_ros_driver2\/CustomMsg.h<\/h3>\n<p>\u5e38\u89c1\u539f\u56e0&#xff1a;<\/p>\n<ul>\n<li>\n<p>livox_ros_driver2 \u6ca1\u6709\u6210\u529f\u7f16\u8bd1&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u6ca1\u6709\u52a0\u8f7d ROS \u5de5\u4f5c\u7a7a\u95f4&#xff1b;<\/p>\n<\/li>\n<li>\n<p>FAST_LIO \u548c\u9a71\u52a8\u4e0d\u5728\u540c\u4e00\u4e2a\u5de5\u4f5c\u7a7a\u95f4&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u7f16\u8bd1\u7f13\u5b58\u5b58\u5728\u95ee\u9898\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u91cd\u65b0\u6267\u884c&#xff1a;<\/p>\n<p>source \/opt\/ros\/noetic\/setup.bash<\/p>\n<p>cd ~\/fastlio_ws<\/p>\n<p>catkin_make -DROS_EDITION&#061;ROS1<\/p>\n<p>source ~\/fastlio_ws\/devel\/setup.bash<\/p>\n<h3 style=\"background-color:transparent\">3. RViz \u4e2d\u6ca1\u6709\u70b9\u4e91<\/h3>\n<p>\u4f9d\u6b21\u68c0\u67e5&#xff1a;<\/p>\n<p>rostopic list<\/p>\n<p>rostopic hz \/livox\/lidar<\/p>\n<p>rostopic hz \/livox\/imu<\/p>\n<p>rostopic type \/livox\/lidar<\/p>\n<p>\u5982\u679c \/livox\/lidar \u6ca1\u6709\u6570\u636e&#xff0c;\u95ee\u9898\u901a\u5e38\u51fa\u5728&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u7535\u8111\u7f51\u5361 IP&#xff1b;<\/p>\n<\/li>\n<li>\n<p>MID-360 IP&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u9a71\u52a8\u914d\u7f6e&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u7f51\u7ebf&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u96f7\u8fbe\u4f9b\u7535\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u5982\u679c\u539f\u59cb\u70b9\u4e91\u6709\u6570\u636e&#xff0c;\u4f46 FAST-LIO2 \u6ca1\u6709\u8f93\u51fa&#xff0c;\u5e94\u68c0\u67e5\u6d88\u606f\u7c7b\u578b\u662f\u5426\u4e3a&#xff1a;<\/p>\n<p>livox_ros_driver2\/CustomMsg<\/p>\n<h3 style=\"background-color:transparent\">4. \u4f7f\u7528\u4e86\u9519\u8bef\u7684\u542f\u52a8\u6587\u4ef6<\/h3>\n<p>\u5982\u679c\u4f7f\u7528&#xff1a;<\/p>\n<p>roslaunch livox_ros_driver2 rviz_MID360.launch<\/p>\n<p>\u9a71\u52a8\u4e3b\u8981\u53d1\u5e03 PointCloud2 \u6570\u636e\u3002<\/p>\n<p>FAST-LIO2 \u7684 Livox \u5904\u7406\u5206\u652f\u9700\u8981 CustomMsg&#xff0c;\u56e0\u6b64\u5e94\u8be5\u4f7f\u7528&#xff1a;<\/p>\n<p>roslaunch livox_ros_driver2 msg_MID360.launch<\/p>\n<h3 style=\"background-color:transparent\">5. \u51fa\u73b0\u70b9\u65f6\u95f4\u6233\u8b66\u544a<\/h3>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>Failed to find match for field &#039;time&#039;<\/p>\n<p>\u8fd9\u8868\u793a\u70b9\u4e91\u4e2d\u7f3a\u5c11 FAST-LIO2 \u9700\u8981\u7684\u70b9\u7ea7\u65f6\u95f4\u4fe1\u606f\u3002<\/p>\n<p>MID-360 \u5e94\u4f18\u5148\u4f7f\u7528 CustomMsg&#xff0c;\u5176\u4e2d\u5305\u542b&#xff1a;<\/p>\n<p>offset_time<\/p>\n<p>\u7f3a\u5c11\u70b9\u65f6\u95f4\u6233\u65f6&#xff0c;\u70b9\u4e91\u8fd0\u52a8\u7578\u53d8\u6821\u6b63\u5c06\u65e0\u6cd5\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n<h3 style=\"background-color:transparent\">6. \u5730\u56fe\u7a81\u7136\u98de\u8d70\u6216\u4e25\u91cd\u6f02\u79fb<\/h3>\n<p>\u5e94\u91cd\u70b9\u68c0\u67e5&#xff1a;<\/p>\n<li>\n<p>\u542f\u52a8\u65f6\u662f\u5426\u4fdd\u6301\u9759\u6b62&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u662f\u5426\u51fa\u73b0 IMU Initial Done&#xff1b;<\/p>\n<\/li>\n<li>\n<p>LiDAR \u548c IMU \u65f6\u95f4\u662f\u5426\u540c\u6b65&#xff1b;<\/p>\n<\/li>\n<li>\n<p>LiDAR\u2013IMU \u5916\u53c2\u662f\u5426\u6b63\u786e&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u662f\u5426\u5feb\u901f\u7529\u52a8\u8bbe\u5907&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u662f\u5426\u5904\u4e8e\u957f\u8d70\u5eca\u6216\u7a7a\u65f7\u573a\u5730&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u73af\u5883\u4e2d\u662f\u5426\u6709\u5927\u91cf\u52a8\u6001\u7269\u4f53&#xff1b;<\/p>\n<\/li>\n<li>\n<p>MID-360 \u662f\u5426\u5b89\u88c5\u7262\u56fa\u3002<\/p>\n<\/li>\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f&#xff0c;\u53ea\u4fee\u6539 RViz \u6216 URDF \u4e2d\u7684\u663e\u793a\u65cb\u8f6c&#xff0c;\u5e76\u4e0d\u4f1a\u81ea\u52a8\u4fee\u6539 FAST-LIO2 \u5185\u90e8\u4f7f\u7528\u7684 LiDAR\u2013IMU \u5916\u53c2\u3002<\/p>\n<h3 style=\"background-color:transparent\">7. \u51fa\u73b0 No Effective Points<\/h3>\n<p>\u53ef\u80fd\u539f\u56e0\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u5f53\u524d\u70b9\u4e91\u4e3a\u7a7a&#xff1b;<\/p>\n<\/li>\n<li>\n<p>LiDAR \u8bdd\u9898\u4e0d\u5339\u914d&#xff1b;<\/p>\n<\/li>\n<li>\n<p>blind \u8bbe\u7f6e\u8fc7\u5927&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u70b9\u4e91\u6570\u636e\u683c\u5f0f\u9519\u8bef&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5468\u56f4\u7f3a\u5c11\u6709\u6548\u51e0\u4f55\u7ed3\u6784&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u6700\u8fd1\u90bb\u5e73\u9762\u62df\u5408\u5931\u8d25&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u521d\u59cb\u4f4d\u59ff\u5df2\u7ecf\u4e25\u91cd\u9519\u8bef\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u5e94\u5148\u68c0\u67e5\u539f\u59cb\u70b9\u4e91\u548c IMU \u662f\u5426\u6b63\u5e38&#xff0c;\u518d\u68c0\u67e5 FAST-LIO2 \u53c2\u6570\u3002<\/p>\n<h3 style=\"background-color:transparent\">8. \u627e\u4e0d\u5230 ikd-Tree<\/h3>\n<p>\u6267\u884c&#xff1a;<\/p>\n<p>cd ~\/fastlio_ws\/src\/FAST_LIO<\/p>\n<p>git submodule update &#8211;init &#8211;recursive<\/p>\n<p>\u7136\u540e\u91cd\u65b0\u7f16\u8bd1\u3002<\/p>\n<h3 style=\"background-color:transparent\">9. \u6ca1\u6709\u751f\u6210 PCD \u6587\u4ef6<\/h3>\n<p>\u68c0\u67e5&#xff1a;<\/p>\n<p>pcd_save:<br \/>\n    pcd_save_en: true<\/p>\n<p>\u8fd0\u884c\u7ed3\u675f\u65f6\u4f7f\u7528&#xff1a;<\/p>\n<p>Ctrl &#043; C<\/p>\n<p>\u8ba9 FAST-LIO2 \u6b63\u5e38\u6267\u884c\u4fdd\u5b58\u6d41\u7a0b\u3002\u4e0d\u8981\u76f4\u63a5\u5173\u95ed\u7ec8\u7aef\u7a97\u53e3&#xff0c;\u5426\u5219\u6700\u540e\u4e00\u90e8\u5206\u70b9\u4e91\u53ef\u80fd\u6ca1\u6709\u5199\u5165\u6587\u4ef6\u3002<\/p>\n<h3 style=\"background-color:transparent\">10. \u957f\u8ddd\u79bb\u8fd4\u56de\u8d77\u70b9\u540e\u5730\u56fe\u6ca1\u6709\u95ed\u5408<\/h3>\n<p>\u8fd9\u662f\u56e0\u4e3a FAST-LIO2 \u5b98\u65b9\u6838\u5fc3\u4ee3\u7801\u6ca1\u6709\u5b8c\u6574\u7684\u56de\u73af\u68c0\u6d4b\u548c\u5168\u5c40\u4f18\u5316\u3002<\/p>\n<p>FAST-LIO2 \u66f4\u9002\u5408\u4f5c\u4e3a&#xff1a;<\/p>\n<p>\u9ad8\u9891\u3001\u4f4e\u5ef6\u8fdf\u7684 LiDAR\u2013IMU \u524d\u7aef<\/p>\n<p>\u5982\u679c\u9700\u8981\u5927\u8303\u56f4\u5168\u5c40\u4e00\u81f4\u5730\u56fe&#xff0c;\u8fd8\u9700\u8981\u589e\u52a0&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u56de\u73af\u68c0\u6d4b&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u4f4d\u59ff\u56fe\u4f18\u5316&#xff1b;<\/p>\n<\/li>\n<li>\n<p>GNSS \u7ea6\u675f&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u91cd\u5b9a\u4f4d\u6a21\u5757\u3002<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h2 style=\"background-color:transparent\">\u4e8c\u5341\u4e03\u3001FAST-LIO2 \u5728\u624b\u6301\u626b\u63cf\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528<\/h2>\n<p>\u5bf9\u4e8e\u57fa\u4e8e MID-360 \u7684\u624b\u6301\u6fc0\u5149\u96f7\u8fbe&#xff0c;\u53ef\u4ee5\u91c7\u7528\u4ee5\u4e0b\u7cfb\u7edf\u7ed3\u6784&#xff1a;<\/p>\n<p>Livox MID-360<br \/>\n  \u251c\u2500 \u6fc0\u5149\u70b9\u4e91<br \/>\n  \u2514\u2500 \u5185\u7f6e IMU<br \/>\n         \u2193<br \/>\nlivox_ros_driver2<br \/>\n         \u2193<br \/>\nFAST-LIO2<br \/>\n  \u251c\u2500 \u5b9e\u65f6\u4f4d\u59ff \/Odometry<br \/>\n  \u251c\u2500 \u5b9e\u65f6\u8f68\u8ff9 \/path<br \/>\n  \u251c\u2500 \u914d\u51c6\u70b9\u4e91 \/cloud_registered<br \/>\n  \u2514\u2500 \u4e09\u7ef4\u5730\u56fe scans.pcd<br \/>\n         \u2193<br \/>\n\u70b9\u4e91\u6ee4\u6ce2\u3001\u88c1\u526a\u3001\u6d4b\u91cf\u548c\u6a21\u578b\u91cd\u5efa<\/p>\n<p>\u5efa\u8bae\u6309\u7167\u4ee5\u4e0b\u987a\u5e8f\u8fdb\u884c\u5f00\u53d1&#xff1a;<\/p>\n<li>\n<p>\u5728 Ubuntu \u7b14\u8bb0\u672c\u4e0a\u5355\u72ec\u8dd1\u901a MID-360 \u9a71\u52a8&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u786e\u8ba4 \/livox\/lidar \u548c \/livox\/imu \u6b63\u5e38&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5728\u7b14\u8bb0\u672c\u4e0a\u8dd1\u901a FAST-LIO2&#xff1b;<\/p>\n<\/li>\n<li>\n<p>\u5b8c\u6210 PCD 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