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koide3 / glim

GLIM: versatile and extensible range-based 3D localization and mapping framework
MIT License
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Is it possible to export dense points #105

Open CharlieV5 opened 2 weeks ago

CharlieV5 commented 2 weeks ago

Is your feature request related to a problem? Please describe. None

Describe the solution you'd like Is it possible to save every lidar frame rather than key frame, so that in the offline_viewer we can export dense point cloud to evaluate the quality of map?

Describe alternatives you've considered If possilble, can every lidar frame pose be optimized in the global optimization ? Maybe in this case the number of poses would be huge, but we can see how the algorithm performs. Additional context None

skohlbr commented 2 weeks ago

Haven't looked deeper into this, but the keep_raw_points option sounds like it might at least keep the data you're interested in. https://github.com/koide3/glim/blob/2e95b8406cca207423070be164cdd1d1672a330b/config/config_ros.json#L9