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Livox-SDK / livox_mapping

A mapping package for Livox LiDARs
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Saved PCD file noisy compaired to ROS Map #17

Closed PLAN8VR closed 3 years ago

PLAN8VR commented 3 years ago

Hi,

Thanks for releasing this - this is great, very robust mapping solver.

My question is, when setting add map_file_path in launch file, the resultant "all_points.pcd" is incredibly noisy, and does not reflect the very clean map in the rviz window - how do I export the final map that is displayed in rvis?

Thank you.

PLAN8VR commented 3 years ago

I think I am just visually misreading the two files - in Rvis, the points are set to have an alpha value of 0.1 which means that the poorly registered points are sparser and therefore don't appear so well, whereas in Cloudcompare, all points are rendered with alpha of 1 which shows the cloud as more noisy, even though it is exactly the same.