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ZikangYuan / sr_lio

[IROS 2024] A LiDAR-inertial odometry (LIO) package that can adjust the execution frequency beyond the sweep frequency
GNU General Public License v2.0
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How to sve global point cloud as a PCD or other types? #1

Closed haiyang2022 closed 1 year ago

haiyang2022 commented 1 year ago

Some parameters in the YAML file look similar to fast-lio2(E.g “pcd_save_en”), but I don't see any use of these parameters in the source code. The point cloud cannot be saved even if pcd_save_en is set to true. After turning on the debug mode, the saved point cloud does not seem to be in the global coordinate system. How should I save the final point cloud? Thank you for your help!!

ZikangYuan commented 1 year ago

I am sorry that this project has not yet opened the code to store the global point cloud map, but I will implement it soon.

The YAML file of this project was indeed written with reference to fast-lio2, and some unnecessary parameters to our system were forgotten to be deleted. Now I have updated the YAML files. Thanks for pointing out my mistake.

haiyang2022 commented 1 year ago

Thanks for your work and help.