FAST_LIVO2初次安装编译

1、安装依赖库

（1）Sophus

git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build && cd build && cmake ..
make
sudo make install

命令行运行：make时，出现以下错误：

/home/jiangqiang/ccy/FAST_LIVO2/depend/Sophus/sophus/so2.cpp:32:26: error: lvalue required as left operand of assignment
   32 |   unit_complex_.real() = 1.;
      |                          ^~
/home/jiangqiang/ccy/FAST_LIVO2/depend/Sophus/sophus/so2.cpp:33:26: error: lvalue required as left operand of assignment
   33 |   unit_complex_.imag() = 0.;

 解决办法：

找到so2.cpp文件出错位置，将其替换为：

  SO2::SO2()
 {
   //unit_complex_.real() = 1.;
   //unit_complex_.imag() = 0.;
   unit_complex_.real(1.);
   unit_complex_.imag(0.);
 }

 修改之后，重新运行：make，无error出现。

2、Build编译

cd ~/catkin_ws/src
git clone https://github.com/hku-mars/FAST-LIVO2
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

在运行 catkin_make时，可能出现以下error:

/home/jiangqiang/ccy/FAST_LIVO2/fast_livo2/src/FAST-LIVO2/include/IMU_Processing.h:52:12: error: field ‘fout_imu’ has incomplete type ‘std::ofstream’ {aka ‘std::basic_ofstream<char>’}
   52 |   ofstream fout_imu;

/home/jiangqiang/ccy/FAST_LIVO2/fast_livo2/src/FAST-LIVO2/include/IMU_Processing.h:52:12: error: field ‘fout_imu’ has incomplete type ‘std::ofstream’ {aka ‘std::basic_ofstream<char>’}
   52 |   ofstream fout_imu;

 

 

出现上述问题的原因在于：在IMU_Processing.h头文件中声明的fout_imu成员变量类型std::ofstream是不完整的。这通常意味着编译器在尝试编译包含该头文件的源文件时，没有找到std::ofstream的完整定义。

解决方法：在IMU_Processing.h头文件的顶部添加#include <fstream>。这能提供std::ofstream的完整定义。

之后重新运行catkin_make，能够正常编译。

3、run运行

（1）数据集验证：

roslaunch fast_livo mapping_avia.launch
rosbag play YOUR_DOWNLOADED.bag

数据集链接: https://pan.baidu.com/s/1C6NLkr6nbRAPqJHsLQq45w?pwd=7tx1 提取码: 7tx1

验证结果已经上传。