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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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2d map with Lego_loam #176

Closed ghost closed 4 years ago

ghost commented 4 years ago

Hi

Is there anyway that I could get 2d map with lego_loam package? I currently can get 3d, but how can I get 2d map with it?

Thank You

TixiaoShan commented 4 years ago

One way of doing it is to convert the 3D point cloud into 2D laser scan, then feed it to gmapping. But it's kind of convoluted.

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

getupgetup commented 4 years ago

Hi

Is there anyway that I could get 2d map with lego_loam package? I currently can get 3d, but how can I get 2d map with it?

Thank You

Maybe you can refer class XRayPointsProcessor in google's cartographer, which provide a solution to get a 2d xray map of 3d pointcloud.

HarshalDawar commented 4 years ago

I found octomap_server to be useful in this regard.