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autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/
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LOAM Mapping Task 1 - Complete basic point cloud transform with ground truth poses and PCAPs #6836

Closed ataparlar closed 3 months ago

ataparlar commented 3 months ago

Checklist

Description

This task is the subtask of Point cloud feature extraction for LOAM based localization.

The ground truth poses and PCAP data need to be matched and make a downsampled point cloud map.

Collected PCAP and GNSS/INS data are simultaneous.

Purpose

Generating a downsampled full point cloud map for each PCAP file.

Possible approaches

Definition of done

This subtask is done with this comment:

Those 2 videos demonstrate the working of the LOAM Mapper tool with the completion of this subtask:

ataparlar commented 3 months ago

Hi guys,

I added the REAME.md file to the repository. Anyone want to use or develop the tool should read the readme. Feel free to contact me.

ataparlar commented 3 months ago

Hi everyone,

I updated the loam-mapper repository. It has rviz debug right now. The tasks can go on with the rviz debug. It would be more efficient. If you want, you can save pcd as well. There is a parameter in the config file as save_pcd. You can change that according to your need. Here is a video for rviz debug:

And also, the structure of the code is changed a bit. It is faster right now.

This subtask is done with this commit: