stevenliu216 / lidar-odometry-and-mapping Goto Github PK

Hi.

Thanks for sharing your code. After the command " $ rostopic echo /laser_odom_to_init/pose/pose/position > 00_result.txt " I got a result.txt like this:

And I tried to use benchmarking.m in your repo to evaluate the result with the 00.txt of kitti ground truth files but failed. Because the programm could not find the string "position" in result.txt as the sign of coordinates for a frame. Actually it seems like the benchmarking.m expected a result.txt with both position and orientation like this:

So could you please tell me what modification I should make to output a "right" result.txt as expected?

Thanks.

Hi liu,
I found that kitti website only give us links of seperated raw dataset in raw data section. And in odometry section, it give raw camera, lidar data but with no timestamps and no gnss data.
Do you know where can I download the complete raw dataset of KITTI ( like KITTI 08 used in your demo) ?

Sincerely,
Claude

Hi. I'm a master candidate student. I'm not good at ROS.

For testing velodyne lidar 3D SLAM(LOAM), I stuck in problem.
I want to save and export the whole map.

what i have done is recording my surrounding in rosbag files. and setup the loam.
1st terminal : roslaunch loam_velodyne loam_velodyne.launch
2nd terminal : rosbag play MY_BAG_FILE.bag

but I cannot export the result map.
I found the comment "rosrun pcl_ros pointcloud_to_pcd input:=/velodyne_cloud_registered" is the solution but it just gave me only current window saving.

How can i do for exporting and saving the map?

Please help me.
@stevenliu216

Hi! I downloaded the kitti08 rosbag you converted and found that this bag is motion compensated. Could you share me the link of the source data you used to get this bag? Thanks.

Hi author!
When I use the matlab script "benchmarking.m", I am not clear about how to use it. Kitti odometry benchmark's data seems like:
1.000000e+00 9.043680e-12 2.326809e-11 5.551115e-17 9.043683e-12 1.000000e+00 2.392370e-10 3.330669e-16 2.326810e-11 2.392370e-10 9.999999e-01 -4.440892e-16
9.999978e-01 5.272628e-04 -2.066935e-03 -4.690294e-02 -5.296506e-04 9.999992e-01 -1.154865e-03 -2.839928e-02 2.066324e-03 1.155958e-03 9.999971e-01 8.586941e-01
9.999910e-01 1.048972e-03 -4.131348e-03 -9.374345e-02 -1.058514e-03 9.999968e-01 -2.308104e-03 -5.676064e-02 4.128913e-03 2.312456e-03 9.999887e-01 1.716275e+00
.......
which are the first three rows (3X4) of the transformation matrix (4X4). But the "FILENAME.txt" only provide data like this:
x: 0.0234626941383
y: -0.236314684153
z: -0.222662851214

x: 0.0471226125956
y: -0.298985630274
z: -0.230534926057

x: 0.0593420229852
y: -0.306566476822
z: -0.102495282888
.......
So I am not sure how the script deal with these two different data types. Can you give more detailed description on how to use it ?
Thanks very much!

Hey!
You've done a great job with LOAM implementation! :)
Could you tell, please, didn't you make any further step for combining visual odometry (DEMO, in your case) and LOAM? Your prior goal seems to me hard and impressive enough!