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gisbi-kim / SC-LIO-SAM

LiDAR-inertial SLAM: Scan Context + LIO-SAM
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I still lack some files after following your video tutorial.How do I use this to get data for the removert？ #6

Closed 13159851972 closed 3 years ago

13159851972 commented 3 years ago

First of all, thank you very much for your open source algorithm, which benefits me a lot， but there are still some things I don't understand. I followed this video tutorial：https://www.youtube.com/watch?v=UiYYrPMcIRU But I only got five ".pcd " such as " cloudCorner.pcd" "cloudGlobal.pcd" "cloudSurf.pcd" "trajectory.pcd" "transformations.pcd" ,I can't find a txt name "optimized_poses.txt" and I don't have a document save so many ".pcd" like "000xxx.pcd" Is there something I'm missing?

gisbi-kim commented 3 years ago

hmm weird. Did you check this line? https://github.com/gisbi-kim/SC-LIO-SAM/blob/ff6ea6b6c1ea0319f941065980fe11a1b240048d/SC-LIO-SAM/config/params_mulran.yaml#L16

13159851972 commented 3 years ago

Thank you for your reply. I have modified my parameter file according to the tutorial, but I still can't get as much as 'xxx.pcd' and 'xxx.scd' in your video.I only get five pcd name: " cloudCorner.pcd" "cloudGlobal.pcd" "cloudSurf.pcd" "trajectory.pcd" .I can't find a folder name ' Scans ' or 'SCDs' in my set folder. I would like to ask is it possible to run the program according to the input instructions of the video tutorial and get many '.pcd' and '.scd' directly? Or do I need some extra steps?

gisbi-kim commented 3 years ago

@13159851972 ok. I'm gonna do myself again and will report it within a few days.

13159851972 commented 3 years ago

图片 This is the file I got when I ran the program

13159851972 commented 3 years ago

图片 This is the file i see in your video. I'm sorry that the question is a waste of your time.Thank you very much for your open source algorithm and help anyway. I would like to ask if it is convenient for you to directly send me a data that can be directly used in the program 'removert'? I'm more interested in trying out your open source algorithm 'removert'

gisbi-kim commented 3 years ago

@13159851972 sorry for the late response,

then, could you try the saver from the non-imu version of this repo? see https://github.com/gisbi-kim/SC-A-LOAM