PCD Output - pcd_save_en: true

[Snowbound9173]

Hi! Great job with your project! I've only just tried it and it looks so good.

Here's a screenshot i took using a Livox HAP and you really can see it tracking the walk. And another from top down:

The configuration that includes quite a bit from FAST-LIO2 mentions PCD save but for the life of me i can't seem to find if this would actually do anything. I'd assume that due to the updated pipeline that may not have been factored in? But I'm not really sure.

Is there any way to output a PCD?

Again thanks for publishing such a great quality project.

[redheli]

can share the yaml file for hap? Thanks

[Snowbound9173]

Hi,

Sure, but it's exactly the same as the Avia

common:
    lid_topic:  "/livox/lidar"
    imu_topic:  "/livox/imu"
    time_sync_en: false         # ONLY turn on when external time synchronization is really not possible

preprocess:
    lidar_type: 1                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
    scan_line: 6
    scan_rate: 10
    blind: 0.5
    point_filter_num: 1

mapping:
    down_sample_size: 0.4
    max_iteration: 4
    voxel_size: 2.0
    max_layer: 4                # 4 layer, 0, 1, 2, 3
    layer_point_size: [ 5, 5, 5, 5, 5 ]
    plannar_threshold: 0.01
    max_points_size: 1000
    max_cov_points_size: 1000

    fov_degree:    360
    det_range:     100.0
    extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic,
    extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
    extrinsic_R: [ 1, 0, 0,
                   0, 1, 0,
                   0, 0, 1]

noise_model:
    ranging_cov: 0.02
    angle_cov: 0.05
    acc_cov: 0.5
    gyr_cov: 0.25
    b_acc_cov: 0.0043
    b_gyr_cov: 0.000266

publish:
    pub_voxel_map: false
    publish_max_voxel_layer: 2         # only publish 0,1,2 layer's plane
    path_en:  true
    scan_publish_en:  true       # false: close all the point cloud output
    dense_publish_en: true       # false: low down the points number in a global-frame point clouds scan.
    scan_bodyframe_pub_en: true  # true: output the point cloud scans in IMU-body-frame

pcd_save:
    pcd_save_en: true
    interval: -1                 # how many LiDAR frames saved in each pcd file; 
                                 # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

I guess I was just asking, is there an inbuilt way to save the result to a PCD for later viewing?

[redheli]

@Snowbound9173 to save point cloud to pcd, check my PR https://github.com/HViktorTsoi/PV-LIO/pull/15