Q. How can I convert output of LeGO-LOAM to 2D grid map for path planning?

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

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Q. How can I convert output of LeGO-LOAM to 2D grid map for path planning? #268

Open yyongjae opened 10 months ago

yyongjae commented 10 months ago

My question is on the title. I want to make a 2D(x,y) Grid map for path planning. So I checked pointcloud through RVIZ and I think '/segmented_cloud_pure' topic is suitable for my task. (Is this right? It's from imageProjection.cpp)

Then, I wonder that if segmentedCloudPure(pcl:Pointcloud data) had over 10,000 points, what means the sequence of the points?