# fast_lio_icp

**Repository Path**: ccpdead/fast_lio_icp

## Basic Information

- **Project Name**: fast_lio_icp
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-11-04
- **Last Updated**: 2026-01-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README


## 环境依赖
1. Ubuntu 22.04
2. ROS2 Humble

## 编译依赖
```text
pcl
Eigen
sophus
gtsam
livox_ros_driver2
```

## 详细说明
### 1.编译 LIVOX-SDK2
```shell
git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd ./Livox-SDK2/
mkdir build
cd build
cmake .. && make -j
sudo make install
```

### 2.编译 livox_ros_driver2
```shell
mkdir -r ws_livox/src
git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2
cd ws_livox/src/livox_ros_driver2
source /opt/ros/humble/setup.sh
./build.sh humble
```

### 3.编译 Sophus
```shell
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout 1.22.10
mkdir build && cd build
cmake .. -DSOPHUS_USE_BASIC_LOGGING=ON
make
sudo make install
```