bag to pbstream without any calculations

cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.

Apache License 2.0

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bag to pbstream without any calculations #1671

Open ikhann opened 3 years ago

ikhann commented 3 years ago

Hello! Thank you for the awesome project!

Perhaps I have a slightly extraordinary request. I need to create a .pbstream file from the input bag file. I have a bag file with PointCloud2 messages in which the 3D scans are already registered and have corresponding point values. So I only need to create a .pbstream file without any transformations, graph optimization, and other algorithms inside Cartographer.

Could you please help me with how to implement this? Thank you!

eithwa commented 3 years ago

Maybe these can help

POSE_GRAPH.constraint_builder.min_score = 0.99
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.99
POSE_GRAPH.optimize_every_n_nodes = 0