自己部署跑r3live++

https://github.com/hku-mars/r3live/tree/master

https://github.com/Livox-SDK/livox_ros_driver

livox功能包装后，接着catkin_make，有报错

感觉可能是我ubuntu笔记本上的opencv是3.2的原因。

我改在一台opencv版本3.3.1的ubuntu上编译

参考这个用下面命令在Ubuntu装上cgal库
https://blog.csdn.net/cangqiongxiaoye/article/details/140245879
sudo apt-get install libcgal-dev

 

https://blog.csdn.net/sunjintaoxxx/article/details/121766965

sudo ln -s -f -i /snap/gnome-3-34-1804/90/usr/lib/x86_64-linux-gnu/libGL.so /usr/lib/x86_64-linux-gnu/libGL.so

然后opencv3.3.1就编译完了

然后sudo make install

现在查看opencv版本已经变为3.3.1了

不能只下功能包，还需要装livox SDK

git clone https://github.com/Livox-SDK/Livox-SDK.git
cd Livox-SDK
cd build && cmake ..
make
sudo make install

再接着catkin_make报这个错
 

https://blog.csdn.net/lun55423/article/details/127947860

https://blog.csdn.net/lun55423/article/details/127947860

sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

再catkin_make r3live就编译通过了。

opencv3.3.1装好后我都没有额外源码编译装cv_bridge
可以配合MARS-dataset bag包跑起来，但比较卡。在我自己i5的笔记本电脑上，注意订阅的图像话题需要改。
修改后的r3live_bag.launch内容如下

<launch>
    <!-- Subscribed topics -->
    <param name="LiDAR_pointcloud_topic" type="string" value= "/laser_cloud_flat" />
    <param name="IMU_topic" type="string" value= "/livox/imu" />
    <param name="Image_topic" type="string" value= "/left_camera/image" />
    <param name="r3live_common/map_output_dir" type="string" value="$(env HOME)/r3live_output" />
    <rosparam command="load" file="$(find r3live)/../config/r3live_config.yaml" />

    <node pkg="r3live" type="r3live_LiDAR_front_end" name="r3live_LiDAR_front_end"  output="screen" required="true"/>
    <node pkg="r3live" type="r3live_mapping" name="r3live_mapping" output="screen" required="true" />
    
    <arg name="rviz" default="1" />
    <group if="$(arg rviz)">
        <node name="rvizvisualisation" pkg="rviz" type="rviz" output="log" args="-d $(find r3live)/../config/rviz/r3live_rviz_config.rviz" />
    </group>
</launch>

跑MARS-LVIG dataset ，需要多运行个python3 image_trans.py,进行图像话题类型转换，image_trans.py内容如下。

import rospy
from sensor_msgs.msg import CompressedImage, Image
from cv_bridge import CvBridge, CvBridgeError

bridge = CvBridge()

def compressed_image_callback(msg):
    try:
        cv_image = bridge.compressed_imgmsg_to_cv2(msg)
    except CvBridgeError as e:
        rospy.logerr("CvBridgeError: %s", e)
        return

    try:
        image_msg = bridge.cv2_to_imgmsg(cv_image, encoding="bgr8")
    except CvBridgeError as e:
        rospy.logerr("CvBridgeError: %s", e)
        return

    image_msg.header = msg.header

    pub.publish(image_msg)

if __name__ == '__main__':
    rospy.init_node("compressed_to_image")
    sub = rospy.Subscriber("/left_camera/image/compressed", CompressedImage, compressed_image_callback, queue_size=1)
    pub = rospy.Publisher("/left_camera/image", Image, queue_size=1)
    rospy.spin()

内存占用感觉也是一直在缓慢增长，但是没有FAST-LVIO那么快，

最后还是卡住挂掉了，我Bag包以0.2倍速播放的，i5 cpu 8G内存。