Cc19245 · lovodllt · Oct 23, 2025 · Oct 23, 2025 · Oct 25, 2025 · Oct 26, 2025
diff --git a/.gitignore b/.gitignore
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,6 +1,10 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(lvi_sam)
 
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+add_compile_options(-Wno-error=deprecated-declarations)
+
 ################## 编译开关 compile switch##############
 # -DIF_OFFICIAL=1: use origin official LVI-SAM code
 # -DIF_OFFICIAL=0: use modified code of this repo
@@ -13,6 +17,7 @@ add_definitions(-DIF_OFFICIAL=0)
 set(CMAKE_BUILD_TYPE "Release")
 set(CMAKE_CXX_FLAGS "-std=c++11")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")
+#set(OpenCV_DIR "/LVI-SAM/opencv-4.8.1/build/installed")
 
 ######################
 ### Packages
@@ -37,10 +42,10 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(OpenMP REQUIRED)
 find_package(PCL REQUIRED)
-find_package(OpenCV REQUIRED)
+find_package(OpenCV 4 REQUIRED)
 find_package(Ceres REQUIRED)
 find_package(GTSAM REQUIRED QUIET)
-find_package(Boost REQUIRED COMPONENTS filesystem program_options system timer)
+find_package(Boost REQUIRED COMPONENTS filesystem program_options system timer serialization thread)
 
 
 ######################
@@ -120,7 +125,7 @@ target_link_libraries(${PROJECT_NAME}_visual_loop ${catkin_LIBRARIES} ${PCL_LIBR
 
 # IMU Preintegration
 add_executable(${PROJECT_NAME}_imuPreintegration src/lidar_odometry/imuPreintegration.cpp)
-target_link_libraries(${PROJECT_NAME}_imuPreintegration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam Boost::timer)
+target_link_libraries(${PROJECT_NAME}_imuPreintegration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam Boost::timer Boost::serialization Boost::thread)
 # Range Image Projection
 add_executable(${PROJECT_NAME}_imageProjection src/lidar_odometry/imageProjection.cpp)
 add_dependencies(${PROJECT_NAME}_imageProjection ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
@@ -133,4 +138,10 @@ target_link_libraries(${PROJECT_NAME}_featureExtraction ${catkin_LIBRARIES} ${PC
 add_executable(${PROJECT_NAME}_mapOptmization src/lidar_odometry/mapOptmization.cpp)
 add_dependencies(${PROJECT_NAME}_mapOptmization ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
 target_compile_options(${PROJECT_NAME}_mapOptmization PRIVATE ${OpenMP_CXX_FLAGS})
-target_link_libraries(${PROJECT_NAME}_mapOptmization PRIVATE ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam Boost::timer)
+target_link_libraries(${PROJECT_NAME}_mapOptmization PRIVATE ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam Boost::timer Boost::serialization Boost::thread)
+
+# Scan-to-map minimal node (LOAM-style optimizer)
+add_executable(${PROJECT_NAME}_scan_to_map src/lidar_odometry/scan_to_map.cpp)
+add_dependencies(${PROJECT_NAME}_scan_to_map ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
+target_compile_options(${PROJECT_NAME}_scan_to_map PRIVATE ${OpenMP_CXX_FLAGS})
+target_link_libraries(${PROJECT_NAME}_scan_to_map PRIVATE ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam Boost::timer Boost::serialization Boost::thread)
diff --git a/README.md b/README.md
@@ -317,3 +317,62 @@ Due to the special IMU (the Euler angle coordinate system is different from the
 ## Acknowledgement
 
 - Origin official [LVI-SAM](https://github.com/TixiaoShan/LVI-SAM).
+
+---
+
+## 添加的 scan_to_map 节点 — 编译与运行说明（我已把源文件和 launch 放入仓库，但未编译）
+
+我已将一个最小化的 LOAM-style scan-to-map 优化器（角点/面点 + LM）添加到本仓库，用于快速验证与二次开发：
+
+- 源文件：`src/lidar_odometry/scan_to_map.cpp`
+- 启动文件：`launch/kitti_scan_to_map.launch`（默认会加载 `config/KITTI_lidar.yaml` 与 `config/KITTI_camera.yaml`）
+
+下面给出如何在本地把该文件编译进 `lvi_sam` 包的精确说明（我已在仓库中做了最小的 CMake/package 修改，但我**没有**在容器中编译）：
+
+1) CMakeLists.txt 中的可执行目标（仓库已包含以下块）：
+
+```cmake
+# Scan-to-map minimal node (LOAM-style optimizer)
+add_executable(${PROJECT_NAME}_scan_to_map src/lidar_odometry/scan_to_map.cpp)
+add_dependencies(${PROJECT_NAME}_scan_to_map ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
+target_compile_options(${PROJECT_NAME}_scan_to_map PRIVATE ${OpenMP_CXX_FLAGS})
+target_link_libraries(${PROJECT_NAME}_scan_to_map PRIVATE ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam Boost::timer)
+```
+
+2) `package.xml` 中需要（仓库已追加）声明的依赖示例：
+
+```xml
+  <build_depend>pcl_ros</build_depend>
+  <run_depend>pcl_ros</run_depend>
+  <build_depend>ceres-solver</build_depend>
+  <run_depend>ceres-solver</run_depend>
+```
+
+注意：不同 ROS 发行版或 OS 上 package 名称可能稍有差异（例如在 Debian/Ubuntu 上是 `libceres-dev` 等），如果你在编译时遇到找不到包或找不到库，请按系统提示安装对应的系统/ROS 包。
+
+3) 推荐的本地编译步骤（示例，catkin 工作区）
+
+```bash
+cd /home/what/ros_ws/LVI_ws
+catkin_make
+source devel/setup.bash
+```
+
+4) 运行（KITTI 示例）
+
+```bash
+rosparam set /use_sim_time true
+# 在另一个终端回放 kitti bag： rosbag play /path/to/kitti.bag --clock
+roslaunch LVI-SAM-Easyused kitti_scan_to_map.launch
+```
+
+5) 常见问题与排查建议
+
+- 如果出现找不到 `lvi_sam::cloud_info` 的 topic/type，先确保 `imageProjection` 与 `featureExtraction` 节点已启动（它们负责发布 `PROJECT_NAME/lidar/feature/cloud_info`）。
+- 如果链接错误提示找不到 gtsam/ceres/PCL 库，请先确认系统已安装对应开发包，例如（Ubuntu + ROS）：
+  ```bash
+  sudo apt install -y libceres-dev libgtsam-dev ros-${ROS_DISTRO}-pcl-ros
+  ```
+- 若编译失败且错误不明显，把 `catkin_make` 的完整输出贴给我，我可以基于错误信息给出精确修复补丁。
+
+如果你同意我现在将继续保持“不编译”的状态，但可以帮你完成后续的本地编译或修复工作，请回复 `A`（我将执行编译并修复编译错误）。如需我撤回 `package.xml` 的依赖修改，也请说明。
diff --git a/README_CN.md b/README_CN.md
diff --git a/config/M2DGR_camera.yaml b/config/M2DGR_camera.yaml
diff --git a/config/M2DGR_lidar.yaml b/config/M2DGR_lidar.yaml
diff --git a/config/brief_k10L6.bin b/config/brief_k10L6.bin
diff --git a/config/brief_pattern.yml b/config/brief_pattern.yml
diff --git a/config/extrinsic_parameter_example.pdf b/config/extrinsic_parameter_example.pdf
diff --git a/config/fisheye_mask_720x540.jpg b/config/fisheye_mask_720x540.jpg
diff --git a/config/params_camera.yaml b/config/params_camera.yaml
diff --git a/config/params_camera_official.yaml b/config/params_camera_official.yaml
diff --git a/config/params_lidar.yaml b/config/params_lidar.yaml
diff --git a/config/params_lidar_official.yaml b/config/params_lidar_official.yaml
diff --git a/config/params_lidar_tuning.yaml b/config/params_lidar_tuning.yaml
@@ -0,0 +1,32 @@
+# Tuning params for IMU preintegration timing and numeric safety
+# Load this file with rosparam (e.g. in your launch file) to override defaults in code.
+
+lvi_sam:
+  # imu_time_tolerance (seconds)
+  # Accept small "late" IMU samples relative to correction time. Negative means we accept IMU
+  # with timestamp up to |imu_time_tolerance| seconds after correction time (useful when IMU
+  # timestamps are slightly later than lidar/odom timestamps). Default in code: -0.002
+  imu_time_tolerance: -0.002
+
+  # preint_dt_floor (seconds)
+  # Minimum deltaT below which preintegration is considered too small to be reliable. When
+  # actual preintegration deltaT <= preint_dt_floor the node will avoid adding degenerate
+  # IMU/Between factors and use mild priors instead. Default in code: 1e-4
+  preint_dt_floor: 1e-4
+
+  # min_bias_sigma
+  # Per-component minimum standard deviation (sigma) for the bias-between factor. This avoids
+  # zero or near-zero sigmas which create singular information matrices for GTSAM. Default: 1e-5
+  min_bias_sigma: 1e-5
+
+  # Suggested tuning for priors (experiment with these if you see large jumps):
+  # prior_vel_sigma: standard deviation (m/s) for initial velocity prior (default in code: 1.0)
+  prior_vel_sigma: 1.0
+  # prior_bias_sigma: standard deviation for bias prior components (default in code: 1e-2)
+  prior_bias_sigma: 1e-2
+
+# Usage:
+# In your launch file, add:
+#   <rosparam command="load" file="$(find LVI-SAM-Easyused)/config/params_lidar_tuning.yaml"/>
+# or run:
+#   rosparam load $(rospack find LVI-SAM-Easyused)/config/params_lidar_tuning.yaml
diff --git a/doc/920ad1643a61547f0000adbf12073fbc.jpg b/doc/920ad1643a61547f0000adbf12073fbc.jpg
diff --git a/doc/fig/backbag.png b/doc/fig/backbag.png
diff --git a/doc/fig/gate_01.png b/doc/fig/gate_01.png
diff --git a/doc/fig/handheld-official.png b/doc/fig/handheld-official.png
diff --git a/doc/fig/handheld.png b/doc/fig/handheld.png
diff --git a/doc/fig/imu.png b/doc/fig/imu.png
diff --git a/doc/fig/kaist1.png b/doc/fig/kaist1.png
diff --git a/doc/fig/kaist2.png b/doc/fig/kaist2.png
diff --git a/doc/fig/kitti.png b/doc/fig/kitti.png
diff --git a/doc/fig/ljj.gif b/doc/fig/ljj.gif
diff --git a/doc/fig/official-equipment.png b/doc/fig/official-equipment.png
diff --git a/doc/fig/urbannav.png b/doc/fig/urbannav.png
diff --git a/doc/paper.pdf b/doc/paper.pdf
diff --git a/docker/Dockerfile b/docker/Dockerfile
diff --git a/docker/docker_start.md b/docker/docker_start.md
diff --git a/docker/ros_entrypoint.sh b/docker/ros_entrypoint.sh
diff --git a/launch/KAIST.launch b/launch/KAIST.launch
diff --git a/launch/KITTI.launch b/launch/KITTI.launch
@@ -11,4 +11,8 @@
     <include file="$(find lvi_sam)/launch/include/module_rviz.launch" />
     <!--- SAM -->
     <include file="$(find lvi_sam)/launch/include/module_sam.launch" />
+
+    <!-- scan_to_map: LOAM-style scan2map optimizer (added for KITTI runs) -->
+    <node name="scan_to_map" pkg="lvi_sam" type="lvi_sam_scan_to_map" output="screen">
+    </node>
 </launch>
diff --git a/launch/M2DGR.launch b/launch/M2DGR.launch
diff --git a/launch/UrbanNavDataset.launch b/launch/UrbanNavDataset.launch
diff --git a/launch/backbag.launch b/launch/backbag.launch