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gisbi-kim / SC-LIO-SAM

LiDAR-inertial SLAM: Scan Context + LIO-SAM
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Can i play SC-LIO-SAM using rosbag generated by kitti2bag? #3

Closed Mineweeper closed 3 years ago

Mineweeper commented 3 years ago

Instead of MulRan dataset, can i use other kinds of dataset or rosbag recorded by myself? Thanks for your work.

gisbi-kim commented 3 years ago

Sure. you can change only the topic name in the yaml configuration file. https://github.com/gisbi-kim/SC-LIO-SAM/blob/master/SC-LIO-SAM/config/params_mulran.yaml

for KITTI dataset, you can use this kind of simple read-and-publish without making rosbag file

Thank you for using sc-lio-sam.

Mineweeper commented 3 years ago

Thanks for quick replying and awsome work!

Mineweeper commented 3 years ago

Would you please make some further introduction about mini-kitti-publisher? For example which timestamp.txt file in KITTI file should be the time.txt required by mini-kitti-publisher. And how should I change the topic name in yaml file in accordance with mini-kitti-publisher? Thanks again.

gisbi-kim commented 3 years ago

you first need to download the KITTI dataset here, http://www.cvlibs.net/datasets/kitti/eval_odometry.php and the files will be found in there.

Mineweeper commented 3 years ago

Okay,I may download that later. Thanks again

isqjsnao commented 4 months ago

Instead of MulRan dataset, can i use other kinds of dataset or rosbag recorded by myself? Thanks for your work. Hello, why does the mapOptmization node start reporting errors when I run the mulran.launch file, while other launch files run without any issues