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hku-mars / loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
GNU General Public License v2.0
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Possible converted bag can output format that can be opened in CloudCompare or PCL file (Not issue) #22

Open ns-1m opened 4 years ago

ns-1m commented 4 years ago

Hi,

It seems that CloudCompare can open and view various XYZ data files.

https://en.wikipedia.org/wiki/CloudCompare

I think it would good if possible that converted bag files can output format that can be opened in CloudCompare.

It seem that PCL is used in this app. http://pointclouds.org/documentation/tutorials/pcd_file_format.php

Thanks.

Noli

ziv-lin commented 4 years ago

Is files with "*.ply" suffix ok? If so, I can provide some tools for saving point cloud as ply files.

ns-1m commented 4 years ago

YES, *.ply file would be good.

Thank you very much.

Noli

vedran-damjanov commented 4 years ago

Is files with "*.ply" suffix ok? If so, I can provide some tools for saving point cloud as ply files.

I've managed to run your LOAM on Raspberry Pi 4 with Ubuntu 18.04. It works great ! To get an output, I've changed config file if_save_to_pcd_files: 0 to 1, but this doesn't give me end result, it writes .pcd files one by one as they get recorded. Could you please provide tool for .ply export at the end of scanning ?

Vedran

ziv-lin commented 4 years ago

Sorry for replying this issue so late, you can use the tool provided by PCL to convert them as ply files:) For example, you can type the commands to convert them as ply files: pcl_pcd2ply input.pcd output.ply image

In addition, you can also use tools pcl_viewer (also provided by PCL) to visualize the pcd files: like this: pcl_viewer input.pcd image

ziv-lin commented 4 years ago

Also, you can directly modify to code of saving .pcd to change it as .ply files.

amazingye commented 4 years ago

Sorry for replying this issue so late, you can use the tool provided by PCL to convert them as ply files:) For example, you can type the commands to convert them as ply files: pcl_pcd2ply input.pcd output.ply image

In addition, you can also use tools pcl_viewer (also provided by PCL) to visualize the pcd files: like this: pcl_viewer input.pcd image

hi，thanks for your great work. in your reply you show us how to convert a single .pcd file to .pcl , but I'm wondering how can we get an output .pcd file after an entire scanning work, changing config 'if_save_to_pcd_files: 0' to 1 didn't help because it writes .pcd files one by one as they get recorded, and we get tons of .pcd files instead of one as we expected. Any reply will be appreciated~