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hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
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The calculation of the mapping quality #51

Open jiangpin-legend opened 1 year ago

jiangpin-legend commented 1 year ago

Hi, thank you for your great work. I am attempting to replicate the mapping quality shown in TABLE III by calculating the occupied cells of the point-cloud map. Is there any function within the project that can be used for reproducing the result? image

Zale-Liu commented 6 months ago

Split the optimized point cloud in the voxels with fixed sizes, like 0.1m and count the number of voxels.