[Add][Enh] update README.md, CMakelist and lunch files

Author: ziv-lin

CMakeLists.txt

@@ -22,17 +22,6 @@ find_package(Eigen3 REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(Ceres REQUIRED)
 
-#### Specify PCL version
-if(NOT DEFINED ENV{PCL_ROOT})
-    message(WARNING "not defined environment variable:PCL_ROOT")
-else()
-    if (POLICY CMP0074)
-        cmake_policy(SET CMP0074 NEW) # CMake 3.12, Set policy CMP0074 explicitly to avoid warnings
-    endif ()
-    message(STATUS "***** PCL_ROOT = " $ENV{PCL_ROOT} "*****" )
-#     set(PCL_DIR $ENV{PCL_ROOT})
-#     set(PCL_DIR "/usr/local/share/pcl-1.8")
-endif()
 find_package(PCL REQUIRED)
 message(STATUS "***** PCL version: ${PCL_VERSION} *****")
 ####
@@ -46,13 +35,13 @@ include_directories(
 
 catkin_package(
   CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
-  DEPENDS EIGEN3 PCL OpenCV
+  DEPENDS EIGEN3 PCL
   INCLUDE_DIRS include
 )
 
 
 add_executable(livox_scanRegistration src/laser_feature_extractor.cpp)
-target_link_libraries(livox_scanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
+target_link_libraries(livox_scanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES})
 
 add_executable(livox_laserMapping src/laser_mapping.cpp)
 target_link_libraries(livox_laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})

README.md

@@ -1,5 +1,5 @@
 # LOAM-Livox
-## A robust LiDAR Odemetry and Mapping (LOAM) package for Livox-LiDAR
+## A robust LiDAR Odemetry and Mapping (LOAM) package for Livox LiDAR
 
 <img src="https://github.com/hku-mars/loam_livox/blob/master/pics/demo_cyt.gif" width = 100% />
 
@@ -39,7 +39,7 @@ Connect to your PC to Livox LiDAR (mid-40) by following  [Livox-ros-driver insta
 ```
     roslaunch loam_livox livox.launch
 ```
-
+To improve the whole wise performance, we strongly recommend you to fresh your livox lidar with this [firmware](https://github.com/Livox-SDK/Special-Firmwares-for-Livox-LiDARs/tree/master/Threadlike-Noise_Filtering_Firmware_For_Livox_MID) by following this [tutorial](https://github.com/Livox-SDK/Special-Firmwares-for-Livox-LiDARs). 
 ## 4. Rosbag Example
 ### 4.1. **Common rosbag**
 Download [Our recorded rosbag](https://drive.google.com/drive/folders/1HWomWWPSEVvka2QVB2G41iRvSwIt5NWf?usp=sharing) and then
@@ -74,4 +74,6 @@ Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-
 ## 6. License
 The source code is released under [GPLv3](http://www.gnu.org/licenses/) license.
 
-We are still working on improving the performance and reliability of our codes. For any technical issues, please contact me via email Jiarong Lin < ziv.lin.ljr@gmail.com >.
+We are still working on improving the performance and reliability of our codes. For any technical issues, please contact me via email Jiarong Lin < ziv.lin.ljr@gmail.com >. 
+
+For commercial use, please contact Dr. Fu Zhang < fuzhang@hku.hk >

launch/livox.launch

@@ -40,7 +40,7 @@
 
     <arg name="rviz" default="true" />
     <group if="$(arg rviz)">
-        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_livox)/rviz_cfg/rosbag.rviz" />
+        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_livox)/rviz_cfg/livox.rviz" />
     </group>
 
 </launch>

rviz_cfg/rosbag.rviz

@@ -274,11 +274,11 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: false
-        - Alpha: 0.200000003
+        - Alpha: 0.100000001
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
-            Max Value: 12.1113586
-            Min Value: -4.23248959
+            Max Value: 2.34725976
+            Min Value: -0.689926445
             Value: true
           Axis: Z
           Channel Name: intensity
@@ -704,18 +704,18 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.334797025
+      Pitch: 0.204797059
       Target Frame: body
       Value: Orbit (rviz)
-      Yaw: 3.14817333
+      Yaw: 3.0381732
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: true
+    collapsed: false
   Height: 2118
-  Hide Left Dock: true
+  Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000045200000786fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003a00000786000000f200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000618000001a80000000000000000000000010000015200000786fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a00000786000000d800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e8e00000052fc0100000002fb0000000800540069006d0065010000000000000e8e000004e800fffffffb0000000800540069006d0065010000000000000450000000000000000000000d320000078600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000045200000786fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a00000786000000f200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000618000001a80000000000000000000000010000015200000786fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a00000786000000d800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e8e00000052fc0100000002fb0000000800540069006d0065010000000000000e8e000004e800fffffffb0000000800540069006d00650100000000000004500000000000000000000008d60000078600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: