IVdb

IVdb is inspired by the sparse_voxel_grid in rko_lio and built on Bonxai. Its interface is compatible with iVox, so it can serve as a drop-in replacement in Faster-LIO and FAST-LIO2. See faster-lio-vdb for an integration example.

IVdb uses the bonxai library as its underlying voxel database. It supports dynamically adding and removing point clouds as well as nearest-neighbor queries. See the IVdb documentation for details.

Requirements

• ubuntu 22.04
• C++17
• TBB
• Eigen
• Point Cloud Library (PCL)

Usage

Build

cmake -S . -B build
cmake --build build -j

Static Analysis

cmake --build build --target run_cppcheck               # Run static analysis
cmake --build build --target generate_cppcheck_htm      # Generate the HTML report
cmake --build build --target all_cppcheck_reports       # Generate all reports

Reports are written to:

• build/cppcheck_report.xml
• build/cppcheck_report.html