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jedeschaud / ct_icp

CT-ICP: Continuous-Time LiDAR Odometry
MIT License
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Is loop closure enable? #45

Closed linwk20 closed 2 years ago

linwk20 commented 2 years ago

Hi Thanks for your great work!

When I trying roslaunch ct_icp_odometry ct_icp_odometry_node, I found it only output odom, not path, so I guess it does not contains loop closure, I wonder how can I enable loop closure in ros?

Thanks!

pdell-kitware commented 2 years ago

Hi !

So for now there is not yet loop closure available (we are working on it, but we are pretty busy at the moment ^^),

It should arrive in late september at the earliest on this project.

For the paper we used the loop closure from pyLIDAR-SLAM

linwk20 commented 2 years ago

Hi, Thanks for reply. So did you just run ct_icp and pySLAM offline seperately to get the loop-closure result? I will try it, thanks!