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hi guys, i m trying to create a map in a pcd file using kitti datasets, can anyone help me ? i have transformed kitti dataset to a rosbag file

asked 2017-08-27 12:17:02 -0500

ilyess gravatar image

i want to use kitti datasets

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What have you tried so far?

jayess gravatar image jayess  ( 2017-08-27 14:27:40 -0500 )edit

i had a subscriber to visualize kitti /kitti/velo/pointcloud topic, i have applied a statistical filter to filter the point cloud and i used voxel grid for down sampling, i want to save the hole point cloud map in a pcd file.

ilyess gravatar image ilyess  ( 2017-08-28 03:59:55 -0500 )edit

I don't think that would necessarily create a map of the entire rosbag's raw data? See my answer below.

vkee gravatar image vkee  ( 2017-08-30 03:27:06 -0500 )edit

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answered 2017-08-30 03:34:12 -0500

vkee gravatar image

@ilyess, I would go with LOAM (it got 2nd on the KITTI odometry / SLAM evaluation).

If you use the velo_64 branch ( ), it should work out of the box and you'll get a low drift map!

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Thank you very much , i went for it and it worked , but still i want to save the map in a pcd file, any ideas ?

ilyess gravatar image ilyess  ( 2017-12-30 18:50:45 -0500 )edit

You should be able to use this function ( ) to save the pcl Point Cloud as a PCD file.

vkee gravatar image vkee  ( 2017-12-30 18:54:02 -0500 )edit

i believe these functions can only save only one capture at the time of map but not the hole map.

ilyess gravatar image ilyess  ( 2017-12-31 09:10:18 -0500 )edit

You can use something like this function ( ) to add all the clouds together into one cloud and then save that as a PCD.

vkee gravatar image vkee  ( 2017-12-31 15:10:45 -0500 )edit

answered 2017-08-29 23:16:22 -0500

ckirksey gravatar image
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answered 2018-11-12 20:30:48 -0500

I got all steps from creating a ROS bag file to making a map in my repo:

Maybe this helps you to finish your task by pushing it into a pcd file. I’m pretty sure you’ll find a tutorial for this one.

Let me know if I can help you further ;)

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Asked: 2017-08-27 12:17:02 -0500

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Last updated: Nov 12 '18