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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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downloading PCD files #44

Open yahyahajlaoui opened 1 month ago

yahyahajlaoui commented 1 month ago

First, Thank you for this amazing work. Please I didn't understand the leaf_size var in the rosservice command that download the pcd file, If I want to save the dense map, what is the number of leaf_size to put in the command ? I tried 0.01 and the pcd file downloaded isn't like the dense map in rviz I don't know why. Thank you again.

kennyjchen commented 1 month ago

The dense map in rviz is purely for visualization and is just the deskewed scan but with a large decay time and an adjusted alpha value to give it that sharp look. The actual map used internally consists of the keyframes used for localization, and that is what is saved with the service command.