rust-livo2

Warning

Don't use this library for now, it's still in deep development.

Overview

Warning

(WIP) Rust implement of FAST_LIVO2.

Features

1. Eazy to use

The library doesn't have any external dependencies, like Ros, Eigen or OpenCV. It's easy to use as a Rust library. All you need to do is to add the library to your Cargo.toml file.

2. Simple and readeable code

Modular and well designed. The code is easy to read and understand how FAST-LIVO2 works.

3. Faster and more accurate than C++ implementation

The original C++ implementation is lack of optimizations, and differs significantly from some of the related formulas in the original paper.

Current Status

• Basic error propagate (jocobian) framework
• Point error propagate
• Plane error propagate
• Voxel map and octree implement
• imu implement
• esikf state estimator implement
• vio implement
• split modules into different crates
• ...

Get Started

Clone the repository

git clone https://github.com/ZXY595/rust-livo2.git
cd rust-livo2

Run the example

[!TODO] todo

Licence

Licensed under the GPLv2 license.