Open yorklyb opened 2 years ago
Thanks for your work! I'm trying to save the intensity values in the map file. However, according to the following command, the intensity values are not saved by default. https://github.com/Livox-SDK/livox_mapping/blob/78b293893290f0611a727fc42e1dc1bed8e447a9/src/laserMapping.cpp#L1213
So I changed it to pcd_writer.writeASCII(all_points_filename, *laserCloudFullResColor_pcd); But then I realized that the points pointed by *laserCloudFullResColor_pcd are in the format of pcl::PointXYZRGB https://github.com/Livox-SDK/livox_mapping/blob/78b293893290f0611a727fc42e1dc1bed8e447a9/src/laserMapping.cpp#L1136 I'm pretty confused about this. I'm wondering why the points are not in format pcl::PointXYZI? Can I change it to pcl::PointXYZI?
pcd_writer.writeASCII(all_points_filename, *laserCloudFullResColor_pcd);
pcl::PointXYZRGB
pcl::PointXYZI
Thanks for your work! I'm trying to save the intensity values in the map file. However, according to the following command, the intensity values are not saved by default. https://github.com/Livox-SDK/livox_mapping/blob/78b293893290f0611a727fc42e1dc1bed8e447a9/src/laserMapping.cpp#L1213
So I changed it to
But then I realized that the points pointed by *laserCloudFullResColor_pcd are in the format of
Can I change it to
pcd_writer.writeASCII(all_points_filename, *laserCloudFullResColor_pcd);pcl::PointXYZRGBhttps://github.com/Livox-SDK/livox_mapping/blob/78b293893290f0611a727fc42e1dc1bed8e447a9/src/laserMapping.cpp#L1136 I'm pretty confused about this. I'm wondering why the points are not in formatpcl::PointXYZI?pcl::PointXYZI?