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vectr-ucla / direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
MIT License
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Point Cloud Visualizations #2

Closed rafaelspring closed 1 year ago

rafaelspring commented 1 year ago

Just a quick question: which app/lib/package was used to create the point cloud visualizations? These look very nice.

kennyjchen commented 1 year ago

Hi @rafaelspring -- we just use RViz with a large decay time and low alpha value on the motion-corrected point clouds.

juliangaal commented 1 year ago

I guess you're talking about the setting in this file?

rafaelspring commented 1 year ago

@kennyjchen thanks for the pointer! Are you using a particularly high resolution to render these or does RViz already give you the nice transparency effects using a low alpha value?

kennyjchen commented 1 year ago

It's a combination of RViz + a low alpha value and also using the full, motion-corrected point cloud during rendering.