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gogojjh / M-LOAM

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
http://gofile.me/4jm56/zU2yvg3bH
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How to acquire a dense map instead of feature map? #40

Open PrePLEX23 opened 1 year ago

PrePLEX23 commented 1 year ago

What a wonderful job, Dr. Jiao. Thank for your work's contribution. However, I am researching M-LOAM. The issue I meeting is that when I use the "mloam_handheld.launch" to run mloam with my custom dataset. When the bag finishs, I just find the pcd files of features and pose in /tmp, which are to sparse to evaluate the results. Sincerely, how can I get a dense map and tum format trajectory? Thanks!

gogojjh commented 1 year ago

Hi, Map: This is because the output map is downsample into a fixed resolution. For your case, you can change the resolution of the voxel filter and output a denser map. TUN format: you can use this function to store the trajectory: https://github.com/gogojjh/M-LOAM/blob/ff77e3550c12a3a51d67745050cccc541c3f6ec2/estimator/src/save_statistics.hpp#L139