result npy, result mapping?

PRBonn / kiss-icp

A LiDAR odometry pipeline that just works

https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf

MIT License

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result npy, result mapping? #399

Closed loleklel closed 1 week ago

loleklel commented 2 weeks ago

Hi, I'm trying your kiss icp algorithm, at first sight it looks good in the visualizer, but I'm a bit confused about the output in the results ordner.

Can you give me more information about the files and structure, what it means and how can I get the point cloud mapping as a result?

All I get is: poses.npy, poses_kitti.txt, poses_tum.txt

Cheers, Robin

loleklel commented 1 week ago

well, I finally run kiss icp with ros2 and can get local map....

benemer commented 1 week ago

KISS-ICP is not a mapping pipeline. It estimates the LiDAR odometry. That is why in the results folder you will have the estimated poses in different data formats.

If you need the local map, you must modify the code to dump it to disk or use ROS 2 and subscribe to the topic. However, remember that this local map is a downsampled and cropped version of the aligned scans used to align the current scan. It is not a map in the sense of a global map for localization for example.