依赖
gtsam
git clone -b 4.1.0 https://gitcode.net/mirrors/borglab/gtsam.git
cd ./gtsam
mkdir build
cd build
cmake ..
sudo make install -j12
安装
cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ..
catkin_make
可能遇到的问题
没有 cv2.h文件
在LIO-SAM/include/utility.h文件中进行修改
#include <opencv/cv2.h>
修改为
#include <opencv2/opencv.hpp>
no member named ‘serialize’
改正utility.h中的引用排序
#pragma once
#ifndef _UTILITY_LIDAR_ODOMETRY_H_
#define _UTILITY_LIDAR_ODOMETRY_H_
#define PCL_NO_PRECOMPILE
#include <ros/ros.h>
#include <std_msgs/Header.h>
#include <std_msgs/Float64MultiArray.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/NavSatFix.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/search/impl/search.hpp>
#include <pcl/range_image/range_image.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/common/common.h>
#include <pcl/common/transforms.h>
#include <pcl/registration/icp.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/crop_box.h>
#include <pcl_conversions/pcl_conversions.h>
#include <tf/LinearMath/Quaternion.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>
#include <opencv2/opencv.hpp>
#include <vector>
#include <cmath>
#include <algorithm>
#include <queue>
#include <deque>
#include <iostream>
#include <fstream>
#include <ctime>
#include <cfloat>
#include <iterator>
#include <sstream>
#include <string>
#include <limits>
#include <iomanip>
#include <array>
#include <thread>
#include <mutex>
下载测试数据
链接: https://pan.baidu.com/s/1pmPZJnMcTR0eNWJiAMG4ZA
提取码: ih8g