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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
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Is it possible to keep pointcloud other channel data when save keyframe? #245

Open flymaxty opened 1 year ago

flymaxty commented 1 year ago

Hi all, We are using ouster lidar with hdl_graph_slam, ouster lidar has additional data(such as ambient) on pointcloud msg, but looks like hdl_graph_slam only keep xyz value on pointcloud. Is it possible to keep ambient/reflectivity data when build 3d map, or what should I do to achieve this?

image

koide3 commented 1 year ago

If you need only ambient, you can consider modifying the prefiltering nodelet so that it stores ambient values to the intensity channel.

https://github.com/koide3/hdl_graph_slam/blob/46538c737df56cf9b527960a2b3819583d1ff40c/apps/prefiltering_nodelet.cpp#L106

flymaxty commented 1 year ago

If you need only ambient, you can consider modifying the prefiltering nodelet so that it stores ambient values to the intensity channel.

https://github.com/koide3/hdl_graph_slam/blob/46538c737df56cf9b527960a2b3819583d1ff40c/apps/prefiltering_nodelet.cpp#L106

Thanks for your help! I will try it next week :)