This is a repository for Visual-Livox LiDARS mapping, which is a reproduced version of VLOAM described in the following paper: Zhang J , Singh S . Visual-lidar odometry and mapping: low-drift, robust, and fast ICRA, 2015 In this version, livox LIDAR is utilized, but it can be replaced by LOAM or any other LiDAR SLAM framework. Debugging, and more code is coming

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation

Follow PCL Installation. Follow Eigen Installation. Follow openCV Installation.

Follow Livox_SDK Installation.

Follow livox_ros_driver Installation.

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/bobocode/visual-livox.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

Run the launch file:

Thanks for livox_mapping, livox_mapping and VLOAM.