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wh200720041 / iscloam

Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020
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Can I Localization in the saved map?? #16

Open hogeol opened 3 years ago

hogeol commented 3 years ago

Can i save map in the mapping file, and after that, Can i localization in the saved map??

wh200720041 commented 3 years ago

Hi @hogeol

Thanks for you question. I would like to recommend two ways

You may use pcd save function provided by PCL pcl::io::savePCDFile( "cloud.pcd", *map, true ); You can add this function at mapping thread. However, you need to recompile the code

A faster way is to use ros_pcl rosrun pcl_ros pointcloud_to_pcd input:=/map You may also check the ros official website for more information http://wiki.ros.org/pcl_ros

Unfortunately the localization with given map is not supported yet, you have to modify the code to do that. However, there is another project https://github.com/wh200720041/SSL_SLAM2, which will enable the map building and localization. I have uploaded some videos, the code will be released in the future.

hogeol commented 3 years ago

Thank you for your comment