vectr-ucla/direct_lidar_inertial_odometry

downloading PCD files

Opened this issue · 2 comments

yahyahajlaoui commented

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

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.

85256638 commented

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.

thanks, so what leaf_size would you recommend to use?