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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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Question about saving PCD files #112

Closed hallyx closed 2 years ago

hallyx commented 2 years ago

I found that after 30min scanning by the Avia, the PCD file only records the last 10min the point cloud file. Is there anything to solve this problem？

XW-HKU commented 2 years ago

I dont know

EloyAldao commented 2 years ago

There is an option to divide the PCD output (-1 makes only one file, so can break) I think that it is in the config y'all, not in the launch file I also split the bags I record every 2Gb to avoid corruption

PengKunPROO commented 2 years ago

@EloyAldao Hi, I have a question about what value you set to the parameter "interval". If I set 10 to the interval,for which means I split the pcd file every 10 seconds? Best wishes!waiting for your reply!

Tomato1107 commented 2 years ago

@EloyAldao Hi, I have a question about what value you set to the parameter "interval". If I set 10 to the interval,for which means I split the pcd file every 10 seconds? Best wishes!waiting for your reply!

interval不是你认为的间隔时间，给interval赋大于1的值是指最后生成pcd的个数。看代码pcd应该是程序最后退出的时候才生成

XW-HKU commented 2 years ago

@EloyAldao Hi, I have a question about what value you set to the parameter "interval". If I set 10 to the interval,for which means I split the pcd file every 10 seconds? Best wishes!waiting for your reply!

interval不是你认为的间隔时间，给interval赋大于1的值是指最后生成pcd的个数。看代码pcd应该是程序最后退出的时候才生成

是间隔多少帧存一次pcd的意思。不过interval要生效需要改pcd_save_type，具体参考yaml文件里面的注释。