Comments (17)
We will support saving PCD file soon.
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我们将很快支持保存 PCD 文件。
好的,谢谢
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现在的算法可以支持保存每一帧点云(世界坐标系下)到pcd文件,可以参考readme去操作。
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现在的算法可以支持保存每一帧点云(世界坐标系下)到pcd文件,可以参考readme去操作。
非常感谢你们的更新,还有问题需要请教一下,就是,怎么可以像https://github.com/Livox-SDK/livox_mapping这个算法一样一次保存整个地图在一个pcd文件里,然后再转为栅格地图用来定位和导航
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你需要保存哪种形式的地图呢,是所有帧的点云的累积稠密地图?,还是ICP所用到的稀疏点云地图?
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from fast_lio.
你需要保存哪种形式的地图呢,是所有帧的点云的累积稠密地图?,还是ICP所用到的稀疏点云地图?
是的,我想要那种所有帧的累积的地图,然后转成栅格地图,用来室外定位导航。每一帧的点云保存下来都只是局部的吧,我前几天试过修改laserMapping.cpp里的代码,成功保存了稠密的pcd点云地图,但是没有颜色,都是白色,然后想根据intensity渲染一下点云,但是发现intensity都是0,最后根据z轴渲染了一下,非常丑,hhhh
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This is from v1, but worked also on v2.
Add the ap.intensity = pl[j].intensity; and ap.intensity = pl[k].intensity; lines and recompile:
if(j == uint(last_surface+point_filter_num-1))
{
PointType ap;
ap.x = pl[j].x;
ap.y = pl[j].y;
ap.z = pl[j].z;
ap.intensity = pl[j].intensity;
ap.curvature = pl[j].curvature;
pl_surf.push_back(ap);
last_surface = -1;
}
}
else
{
if(types[j].ftype==Edge_Jump || types[j].ftype==Edge_Plane)
{
pl_corn.push_back(pl[j]);
}
if(last_surface != -1)
{
PointType ap;
for(uint k=last_surface; k<j; k++)
{
ap.x += pl[k].x;
ap.y += pl[k].y;
ap.z += pl[k].z;
ap.intensity = pl[k].intensity;
ap.curvature += pl[k].curvature;
}
ap.x /= (j-last_surface);
ap.y /= (j-last_surface);
ap.z /= (j-last_surface);
ap.curvature /= (j-last_surface);
pl_surf.push_back(ap);
}
last_surface = -1;
from fast_lio.
你需要保存哪种形式的地图呢,是所有帧的点云的累积稠密地图?,还是ICP所用到的稀疏点云地图?
是的,我想要那种所有帧的累积的地图,然后转成栅格地图,用来室外定位导航。每一帧的点云保存下来都只是局部的吧,我前几天试过修改laserMapping.cpp里的代码,成功保存了稠密的pcd点云地图,但是没有颜色,都是白色,然后想根据intensity渲染一下点云,但是发现intensity都是0,最后根据z轴渲染了一下,非常丑,hhhh
最新的代码已经改成了保存成一个累积的点云,现在rivz里面的当前帧点云上色使用的就是intensity,你可以看看保存出来的pcd file有没有intensity.
from fast_lio.
This is from v1, but worked also on v2.
Add the ap.intensity = pl[j].intensity; and ap.intensity = pl[k].intensity; lines and recompile:if(j == uint(last_surface+point_filter_num-1)) { PointType ap; ap.x = pl[j].x; ap.y = pl[j].y; ap.z = pl[j].z; ap.intensity = pl[j].intensity; ap.curvature = pl[j].curvature; pl_surf.push_back(ap); last_surface = -1; } } else { if(types[j].ftype==Edge_Jump || types[j].ftype==Edge_Plane) { pl_corn.push_back(pl[j]); } if(last_surface != -1) { PointType ap; for(uint k=last_surface; k<j; k++) { ap.x += pl[k].x; ap.y += pl[k].y; ap.z += pl[k].z; ap.intensity = pl[k].intensity; ap.curvature += pl[k].curvature; } ap.x /= (j-last_surface); ap.y /= (j-last_surface); ap.z /= (j-last_surface); ap.curvature /= (j-last_surface); pl_surf.push_back(ap); } last_surface = -1;
Good Jobs, I will add these into codes. Thank you very much!
from fast_lio.
稠密点云,这样抽稀工作可以放在其他软件执行! 再者,有三个个疑问:闭环精度评定的参数能否调整,在程序里怎么调整! 第二,能否直接输出精度评定的数据,图表。 第三,能否通过采集设备静置,得到静置时间段的采集器位置坐标,(譬如程序设定,当imu移动在10秒钟不超过10cm,程序输出该点坐标信息),以便在点云平移旋转时方便处理! 哈哈smile!水平所限,如有冒犯,敬请谅解! 我就是一个老测量员!
…
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实在不好意思,测绘的这些我不太懂,感觉应该可以在点云后处理里面实现?
from fast_lio.
This is from v1, but worked also on v2.
Add the ap.intensity = pl[j].intensity; and ap.intensity = pl[k].intensity; lines and recompile:if(j == uint(last_surface+point_filter_num-1)) { PointType ap; ap.x = pl[j].x; ap.y = pl[j].y; ap.z = pl[j].z; ap.intensity = pl[j].intensity; ap.curvature = pl[j].curvature; pl_surf.push_back(ap); last_surface = -1; } } else { if(types[j].ftype==Edge_Jump || types[j].ftype==Edge_Plane) { pl_corn.push_back(pl[j]); } if(last_surface != -1) { PointType ap; for(uint k=last_surface; k<j; k++) { ap.x += pl[k].x; ap.y += pl[k].y; ap.z += pl[k].z; ap.intensity = pl[k].intensity; ap.curvature += pl[k].curvature; } ap.x /= (j-last_surface); ap.y /= (j-last_surface); ap.z /= (j-last_surface); ap.curvature /= (j-last_surface); pl_surf.push_back(ap); } last_surface = -1;
Good Jobs, I will add these into codes. Thank you very much!
Already merged in the codes.
from fast_lio.
你需要保存哪种形式的地图呢,是所有帧的点云的累积稠密地图?,还是ICP所用到的稀疏点云地图?
是的,我想要那种所有帧的累积的地图,然后转成栅格地图,用来室外定位导航。每一帧的点云保存下来都只是局部的吧,我前几天试过修改laserMapping.cpp里的代码,成功保存了稠密的pcd点云地图,但是没有颜色,都是白色,然后想根据intensity渲染一下点云,但是发现intensity都是0,最后根据z轴渲染了一下,非常丑,hhhh
最新的代码已经改成了保存成一个累积的点云,现在rivz里面的当前帧点云上色使用的就是intensity,你可以看看保存出来的pcd file有没有intensity.
好的,谢谢你们,我明天试试
from fast_lio.
你需要保存哪种形式的地图呢,是所有帧的点云的累积稠密地图?,还是ICP所用到的稀疏点云地图?
是的,我想要那种所有帧的累积的地图,然后转成栅格地图,用来室外定位导航。每一帧的点云保存下来都只是局部的吧,我前几天试过修改laserMapping.cpp里的代码,成功保存了稠密的pcd点云地图,但是没有颜色,都是白色,然后想根据intensity渲染一下点云,但是发现intensity都是0,最后根据z轴渲染了一下,非常丑,hhhh
最新的代码已经改成了保存成一个累积的点云,现在rivz里面的当前帧点云上色使用的就是intensity,你可以看看保存出来的pcd file有没有intensity.
已经保存成 累积的点云的,但是颜色和rviz里面看到的不太一样,
from fast_lio.
你需要保存哪种形式的地图呢,是所有帧的点云的累积稠密地图?,还是ICP所用到的稀疏点云地图?
是的,我想要那种所有帧的累积的地图,然后转成栅格地图,用来室外定位导航。每一帧的点云保存下来都只是局部的吧,我前几天试过修改laserMapping.cpp里的代码,成功保存了稠密的pcd点云地图,但是没有颜色,都是白色,然后想根据intensity渲染一下点云,但是发现intensity都是0,最后根据z轴渲染了一下,非常丑,hhhh
最新的代码已经改成了保存成一个累积的点云,现在rivz里面的当前帧点云上色使用的就是intensity,你可以看看保存出来的pcd file有没有intensity.
change what to visualize/color by pressing 1,2,3,4,5.
1 is all random
2 is X values
3 is Y values
4 is Z values
5 is intensity
from fast_lio.
你需要保存哪种形式的地图呢,是所有帧的点云的累积稠密地图?,还是ICP所用到的稀疏点云地图?
是的,我想要那种所有帧的累积的地图,然后转成栅格地图,用来室外定位导航。每一帧的点云保存下来都只是局部的吧,我前几天试过修改laserMapping.cpp里的代码,成功保存了稠密的pcd点云地图,但是没有颜色,都是白色,然后想根据intensity渲染一下点云,但是发现intensity都是0,最后根据z轴渲染了一下,非常丑,hhhh
最新的代码已经改成了保存成一个累积的点云,现在rivz里面的当前帧点云上色使用的就是intensity,你可以看看保存出来的pcd file有没有intensity.
change what to visualize/color by pressing 1,2,3,4,5.
1 is all random
2 is X values
3 is Y values
4 is Z values
5 is intensity
from fast_lio.
@huduo0812 Hi,想咨询下你,如果利用保存的PCD点云文件重新定位呢?
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Related Issues (20)
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