vmlinux.py is a python script which can load vmlinux image in both IDA Pro and radare2.

vmlinux is a decompressed kernel image, personally I prefer to extract it from boot.img by binwalk. However, imgtool is another good choice.

./imgtool pixel_boot.img extract
lz4 -d extracted/kernel ./pixel_vmlinux

vmlinux.py		->		C:\Program Files\IDA x.x\loaders\

r2 -i ./vmlinux.py ./test/pixel_vmlinux

python ./vmlinux.py ./test/pixel_vmlinux

In some cases, kernel image with KASLR enabled will populate relocation entries upon boot and leave them as 0 in image. fix_kaslr_4_4.c and fix_kaslr_samsung.c can fix these images by re-populating relocation entries with their original addresses.