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

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-ge