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minwoo0611 / MA-LIO

Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
GNU General Public License v2.0
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Question about experiment #16

Closed LiuQiir closed 7 months ago

LiuQiir commented 7 months ago

Thanks for your great work!!! I would like to reproduce the visualization of your paper about maps with points color-coded by their localization weight. how do I need to change the code?

minwoo0611 commented 7 months ago

Hello, @LiuQiir.

The exact code for visualization as used in our paper does not exist, but you can still replicate similar results with a few adjustments. Here's what you need to do:

  1. Declare a global variable and store the weight variable in h_share_model.
  2. Modify the intensity value of the pointcloud in the publish_frame_world function.

These steps will enable you to visualize the localization weight in rviz.

I hope this process can help to solve your problem.

Thank you :)