# r3live_preview

**Repository Path**: marslab/r3live_preview

## Basic Information

- **Project Name**: r3live_preview
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-01-07
- **Last Updated**: 2022-01-07

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# r3live_preview
## Introduction
&emsp;This page shown more visualization results of our related paper **''R<sup>3</sup>LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package''** ([arxiv](https://arxiv.org/abs/2109.07982), [github](https://github.com/hku-mars/r3live)), with providing the download the offline maps of our experiment result:

### Offline map of our Experiment-2
&emsp;The offline pointcloud maps ([hkust_campus_pointcloud.pcd](https://drive.google.com/file/d/1Mh2117Eir1GE5Sd_SaQlrNG6yJ6Ydv3t/view?usp=sharing)) of our Experiment-2 can be download on our [**google-drive**](https://drive.google.com/drive/folders/1UTV5QtFkkgjN6l17tXTboTMWbKPY3llJ?usp=sharing):
<div align="center">
<a href="https://youtu.be/j5fT8NE5fdg?t=104" target="_blank"><img src="pics/experiment_2_merge.jpg" alt="video" width="100%"/>
<font color=#a0a0a0 size=2>Our Experiment-2.</font>
</a>
</div>

### Our reconstructed mesh of HKU_Campus
More over, we also provide the offline pointcloud maps ([hku_demo_pointcloud.pcd](https://drive.google.com/file/d/1MewJjVoQA8SiOIREig4T0nrlwmTukobJ/view?usp=sharing)) and mesh ([hku_demo_mesh.ply](https://drive.google.com/file/d/1XjgmxTppXiIhCP52IUanp1rD4GMzrjKf/view?usp=sharing)) of HKU campus(see our relative [video](https://youtu.be/j5fT8NE5fdg?t=291)):

<div align="center">
<a href="https://youtu.be/j5fT8NE5fdg?t=291" target="_blank"><img src="pics/cover.jpg" alt="video" width="100%"/>
<font color=#a0a0a0 size=2>Build The University of Hong Kong with R3LIVE.</font>
</a>
</div>


## How to open?
For our offline pointcloud maps (with suffix **.pcd*), you can open it with pcl_viewer, [CloudCompare](https://www.danielgm.net/cc/), and etc:
```
sudo apt-get install pcl-tools
pcl_viewer YOUR_DOWNLOADED_MAP.ply
```

For our offline mesh file (with suffix **.ply*), you can open it with [meshlab](https://www.meshlab.net/), [CloudCompare](https://www.danielgm.net/cc/), and etc:
```
sudo apt-get install meshlab 
pcl_viewer YOUR_DOWNLOADED_MAP.ply
```