search

hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
https://sites.google.com/view/lio-mapping
GNU General Public License v3.0
911 stars 322 forks source link

how to modify indoor_test_config.yaml #12

Open yangjiongfeng opened 5 years ago

yangjiongfeng commented 5 years ago

Hi anthor， My robot moves horizontally indoors. You don't known Extrinsic paramete，so in you indoor_test_config.yaml ,Your estimate_extrinsic is 2. now i have Extrinsic parameter between IMU and Camera,How to modify my parameters， Please tell me which parameters and how I need to modify. Thank you

hyye commented 5 years ago

Hi @yangjiongfeng, you can set estimate_extrinsic to 1, and set your extrinsic_rotation and extrinsic_translation (from the IMU frame to the lidar frame). It is recommended to estimate the extrinsic parameters first and make sure the system work properly; then set it as a prior value in further use.

yangjiongfeng commented 5 years ago

hello anthor， How do you save the map as pcd file?

hyye commented 5 years ago

Hi @yangjiongfeng, to save as pcd file, you can add storing code after the loop of ros::ok, like https://github.com/hyye/lio-mapping/blob/972568a8d912330992f47d94c341d0a8dce652c6/src/map_builder_node.cc#L77 or record the messages in a bag and then use the tool src/save_bag_to_pcd.cc, referring to https://github.com/hyye/lio-mapping/issues/9#issuecomment-505382679.

llu0120 commented 5 years ago

HI author, I saw there is a file of save_bag_to_pcd. Per the discussion before, I saw I might need to run the command lio_save_bag_to_pcd --input_filename "[bag_name].bag" --output_filename "[pcd_name].pcd" --odom_name "/lio_map_builder/aft_mapped_to_init" --laser_name "/lio_map_builder/cloud_registered", however, I don't know where to run this and should the bag be a recorded bag by rosbag record /topics_name? And can you give me some instructions and example to run the lio_save_bag_to_pcd command?