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daohu527 / ndt_mapping

Baidu apollo offline mapping tool
Apache License 2.0
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This repo support ros? #25

Closed wangfei-tech closed 1 year ago

wangfei-tech commented 1 year ago

Hello， thanks for your kind work!

1.I use ros1 and record datas by rosbag. 2.my lidar is robosense-128 beams.

This is my workspace, I have some quesetions: I use use python to convert data format,but But the established map merges into a whole.Is this caused by the failure to calibrate the lidar and IMU?

wangfei-tech commented 1 year ago

@daohu527 Looking forward to your reply！

daohu527 commented 1 year ago

No, it is system independent. You only need to decompress the corresponding point cloud and IMU attitude information.

Simply put, we need the IMU to initialize and then perform NDT matching

wangfei-tech commented 1 year ago

@daohu527 Thanks for your prompt reply！ I imitated the cyber_record_parser.py in your tools to extract my IMU and GPS data. I would like to ask whether the extraction of point cloud and IMU data can be completed using a processing method similar to cyber_record_parser.py? Looking forward to your reply!

daohu527 commented 1 year ago

Yes, the tool already can decompress the record, but not the ros bag.

for ros bag you can use python module rosbags

wangfei-tech commented 1 year ago

@daohu527 Thank you for your timely reply, I will try to use rosbags for data processing, I will keep this issue open for a while in case there will be new questions to ask you.

wangfei-tech commented 1 year ago

I will close the issue，thanks ! @daohu527