Robotic-Developer-Road · mingren11 · Apr 25, 2025 · May 15, 2025 · May 15, 2025 · May 15, 2025
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -87,24 +87,29 @@ find_package(catkin REQUIRED COMPONENTS
   tf
   message_generation
   eigen_conversions
-  vikit_common
-  vikit_ros
   cv_bridge
   image_transport
 )
 
+add_subdirectory(vikit_common)
+
+# glog
+find_package(Glog REQUIRED)
+include_directories(${GLOG_INCLUDE_DIR})
+
+# gflags
+find_package(Gflags REQUIRED)
+include_directories(${GFLAGS_INCLUDE_DIR})
+
 find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED)
 find_package(OpenCV REQUIRED)
-find_package(Sophus REQUIRED)
 find_package(Boost REQUIRED COMPONENTS thread)
 
-set(Sophus_LIBRARIES libSophus.so)
-
 # Define the catkin package
 catkin_package(
-  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime cv_bridge vikit_common vikit_ros image_transport
-  DEPENDS EIGEN3 PCL OpenCV Sophus
+  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime cv_bridge image_transport
+  DEPENDS EIGEN3 PCL OpenCV 
 )
 
 # Include directories for dependencies
@@ -113,12 +118,12 @@ include_directories(
   ${EIGEN3_INCLUDE_DIR}
   ${PCL_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
-  ${Sophus_INCLUDE_DIRS}
   include
+  vikit_common/include
 )
 
 # Add libraries
-add_library(vio src/vio.cpp src/frame.cpp src/visual_point.cpp)
+add_library(vio src/vio.cpp src/image_frame.cpp)
 add_library(lio src/voxel_map.cpp)
 add_library(pre src/preprocess.cpp)
 add_library(imu_proc src/IMU_Processing.cpp)
@@ -137,8 +142,10 @@ target_link_libraries(fastlivo_mapping
   ${catkin_LIBRARIES}
   ${PCL_LIBRARIES}
   ${OpenCV_LIBRARIES}
-  ${Sophus_LIBRARIES}
+  glog::glog
+  ${GFLAGS_LIBRARIES}
   ${Boost_LIBRARIES}
+  vikit_plugin
 )
 
 # Link mimalloc if found

diff --git a/Log/image/.gitkeep b/Log/image/.gitkeep
diff --git a/Log/pcd/.gitkeep b/Log/pcd/.gitkeep
diff --git a/README.md b/README.md
@@ -1,4 +1,11 @@
 # FAST-LIVO2
+## 改进内容
+1. 将sophus1.24.6和vikit整合至项目内，现在不再需要安装这两项依赖  
+2. 添加了LRU内存管理，控制内存增长速度  
+3. 使用谷歌风格对部分变量函数等进行了重命名，添加了部分注释  
+4. 引入了glog和gflags（可按照后续步骤安装），在程序崩溃时可以便捷地找到出错的位置，便于调试，同时便于外部参数输入  
+5. 添加了glibc malloc内存分配优化，避免长时间占用空闲内存(2025-09-03新增)  
+6. 删去了LO模式和若干冗余变量，主要处理流程更加清晰(2025-09-03新增)  
 
 ## FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
 
@@ -60,44 +67,38 @@ Eigen>=3.3.4, Follow [Eigen Installation](https://eigen.tuxfamily.org/index.php?
 
 OpenCV>=4.2, Follow [Opencv Installation](http://opencv.org/).
 
-### 2.3 Sophus
-
-Sophus Installation for the non-templated/double-only version.
-
-```bash
-git clone https://github.com/strasdat/Sophus.git
-cd Sophus
-git checkout a621ff
-mkdir build && cd build && cmake ..
-make
-sudo make install
-```
-
-### 2.4 Vikit
-
-Vikit contains camera models, some math and interpolation functions that we need. Vikit is a catkin project, therefore, download it into your catkin workspace source folder.
-
-```bash
-# Different from the one used in fast-livo1
-cd catkin_ws/src
-git clone https://github.com/xuankuzcr/rpg_vikit.git 
-```
-
 ## 3. Build
 
 Clone the repository and catkin_make:
 
 ```
 cd ~/catkin_ws/src
-git clone https://github.com/hku-mars/FAST-LIVO2
-cd ../
+git clone https://github.com/yqmy0814/FAST-LIVO2
+
+# 安装glog和gflags,已安装则跳过
+cd FAST-LIVO2/thirdparty
+tar -xvf gflags-2.2.2.tar.gz 
+cd gflags-2.2.2 
+mkdir build && cd build 
+cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_CXX_FLAGS=-fPIC .. 
+make -j4 
+sudo make install
+cd ../..
+tar -xvf glog-0.4.0.tar.gz 
+cd glog-0.4.0 
+mkdir build && cd build 
+cmake -DBUILD_SHARED_LIBS=ON .. 
+make -j4 
+sudo make install
+
+cd ~/catkin_ws
 catkin_make
 source ~/catkin_ws/devel/setup.bash
 ```
 
 ## 4. Run our examples
 
-Download our collected rosbag files via OneDrive ([**FAST-LIVO2-Dataset**](https://connecthkuhk-my.sharepoint.com/:f:/g/personal/zhengcr_connect_hku_hk/ErdFNQtjMxZOorYKDTtK4ugBkogXfq1OfDm90GECouuIQA?e=KngY9Z)). 
+Download FAST-LIVO2-Dataset from [Global-LVBA](https://github.com/xuankuzcr/Global-LVBA) Section IV.
 
 ```
 roslaunch fast_livo mapping_avia.launch
@@ -107,4 +108,4 @@ rosbag play YOUR_DOWNLOADED.bag
 
 ## 5. License
 
-The source code of this package is released under the [**GPLv2**](http://www.gnu.org/licenses/) license. For commercial use, please contact me at <zhengcr@connect.hku.hk> and Prof. Fu Zhang at <fuzhang@hku.hk> to discuss an alternative license.
+The source code of this package is released under the [**GPLv2**](http://www.gnu.org/licenses/) license. For commercial use, please contact me at <zhengcr@connect.hku.hk> and Prof. Fu Zhang at <fuzhang@hku.hk> to discuss an alternative license.
diff --git a/config/HILTI22.yaml b/config/HILTI22.yaml
@@ -3,7 +3,6 @@ common:
   lid_topic: "/hesai/pandar"
   imu_topic: "/alphasense/imu"
   img_en: 1
-  lidar_en: 1
   ros_driver_bug_fix: false
 
 extrin_calib:
@@ -49,7 +48,6 @@ vio:
   inv_expo_cov: 0.1
 
 imu:
-  imu_en: true
   imu_int_frame: 30
   acc_cov: 0.5 # 0.1
   gyr_cov: 0.01
@@ -98,3 +96,6 @@ pcd_save:
 image_save:
   img_save_en: false
   interval: 1
+
+lru_config:
+  lru_size: 1000000
diff --git a/config/MARS_LVIG.yaml b/config/MARS_LVIG.yaml
@@ -3,7 +3,6 @@ common:
   lid_topic: "/livox/lidar"
   imu_topic: "/livox/imu"
   img_en: 1
-  lidar_en: 1
   ros_driver_bug_fix: false
 
 extrin_calib:
@@ -65,7 +64,6 @@ vio:
   inv_expo_cov: 0.1
 
 imu:
-  imu_en: true
   imu_int_frame: 30
   acc_cov: 2.0 # 0.5
   gyr_cov: 0.1 # 0.3
@@ -113,4 +111,7 @@ pcd_save:
 
 image_save:
   img_save_en: false
-  interval: 1
+  interval: 1
+
+lru_config:
+  lru_size: 1000000
diff --git a/config/NTU_VIRAL.yaml b/config/NTU_VIRAL.yaml
@@ -3,7 +3,6 @@ common:
   lid_topic: "/os1_cloud_node1/points"
   imu_topic: "/imu/imu"
   img_en: 1
-  lidar_en: 1
   ros_driver_bug_fix: false
 
 extrin_calib:
@@ -41,7 +40,6 @@ vio:
   inv_expo_cov: 0.1
 
 imu:
-  imu_en: true
   imu_int_frame: 30
   acc_cov: 0.5 # 0.2
   gyr_cov: 0.3 # 0.5
@@ -89,4 +87,7 @@ pcd_save:
 
 image_save:
   img_save_en: false
-  interval: 1
+  interval: 1
+
+lru_config:
+  lru_size: 1000000
diff --git a/config/avia.yaml b/config/avia.yaml
@@ -3,16 +3,15 @@ common:
   lid_topic: "/livox/lidar"
   imu_topic: "/livox/imu"
   img_en: 1
-  lidar_en: 1
   ros_driver_bug_fix: false
 
 extrin_calib:
   extrinsic_T: [0.04165, 0.02326, -0.0284]
   extrinsic_R: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-  Rcl: [0.00610193,-0.999863,-0.0154172,
-        -0.00615449,0.0153796,-0.999863,
-        0.999962,0.00619598,-0.0060598] 
-  Pcl: [0.0194384, 0.104689,-0.0251952]
+  Rcl: [-0.0036250, -0.9998907, -0.0143360,
+       0.0075568,  0.0143083, -0.9998690,
+       0.9999649, -0.0037329,  0.0075041]
+  Pcl: [0.00549469, 0.0712101, 0.0322054]
 
 time_offset: 
   imu_time_offset: 0.0
@@ -21,7 +20,7 @@ time_offset:
 
 preprocess:
   point_filter_num: 1
-  filter_size_surf: 0.1
+  filter_size_surf: 0.1 
   lidar_type: 1 # Livox Avia LiDAR
   scan_line: 6
   blind: 0.8
@@ -39,7 +38,6 @@ vio:
   inv_expo_cov: 0.1
 
 imu:
-  imu_en: true
   imu_int_frame: 30
   acc_cov: 0.5 # 0.2
   gyr_cov: 0.3 # 0.5
@@ -88,3 +86,6 @@ pcd_save:
 image_save:
   img_save_en: false
   interval: 1
+
+lru_config:
+  lru_size: 1000000
diff --git a/config/camera_pinhole.yaml b/config/camera_pinhole.yaml
@@ -2,11 +2,11 @@ cam_model: Pinhole
 cam_width: 1280
 cam_height: 1024
 scale: 0.5
-cam_fx: 1293.56944
-cam_fy: 1293.3155
-cam_cx: 626.91359
-cam_cy: 522.799224
-cam_d0: -0.076160
-cam_d1: 0.123001
-cam_d2: -0.00113
-cam_d3: 0.000251
+cam_fx: 1311.89517127580
+cam_fy: 1311.36488586115
+cam_cx: 656.523841857393
+cam_cy: 504.136322840350
+cam_d0: -0.0780830982640722
+cam_d1: 0.146382433670493
+cam_d2: -0.00110111633050301
+cam_d3: -0.00110752991013068