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LOAM Mapping Task 1 - Complete basic point cloud transform with ground truth poses and PCAPs #6836

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6 tasks done
Tracked by #6741
ataparlar opened this issue Apr 17, 2024 · 2 comments
Closed
6 tasks done
Tracked by #6741
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component:map Map creation, storage, and loading. (auto-assigned) type:new-feature New functionalities or additions, feature requests.

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@ataparlar
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ataparlar commented Apr 17, 2024

Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I've agreed with the maintainers that I can plan this task.

Description

This task is the subtask of Point cloud feature extraction for LOAM based localization.


The ground truth poses and PCAP data need to be matched and make a downsampled point cloud map.

  • Match the ground truth poses and PCAP data according to the time that both data have.
  • All the points of the extracted point cloud must have a precise time.
  • Use octree for downsampling.

Collected PCAP and GNSS/INS data are simultaneous.

Purpose

Generating a downsampled full point cloud map for each PCAP file.

Possible approaches

  • Transform each point to the position from the map origin.
    • Match the positions and point cloud points from ground truth poses and PCAPs via precise time.

Definition of done

  • Exporting .pcd files of the precessed PCAPs.
  • Visualizing the map production in RViz.
  • Add readme for community

This subtask is done with this comment:

Those 2 videos demonstrate the working of the LOAM Mapper tool with the completion of this subtask:

@ataparlar ataparlar self-assigned this Apr 17, 2024
@ataparlar ataparlar added type:new-feature New functionalities or additions, feature requests. component:map Map creation, storage, and loading. (auto-assigned) labels Apr 17, 2024
@ataparlar ataparlar moved this to In Progress in Autoware Labs Apr 17, 2024
@ataparlar
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Hi guys,

I added the REAME.md file to the repository. Anyone want to use or develop the tool should read the readme. Feel free to contact me.

@xmfcx xmfcx changed the title Complete basic point cloud transform with ground truth poses and PCAPs LOAM Mapping Task 1 - Complete basic point cloud transform with ground truth poses and PCAPs Apr 19, 2024
@ataparlar
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ataparlar commented Apr 23, 2024

Hi everyone,

I updated the loam-mapper repository. It has rviz debug right now. The tasks can go on with the rviz debug. It would be more efficient. If you want, you can save pcd as well. There is a parameter in the config file as save_pcd. You can change that according to your need. Here is a video for rviz debug:

And also, the structure of the code is changed a bit. It is faster right now.

This subtask is done with this commit:

@ataparlar ataparlar moved this from In Progress to Done in Autoware Labs Apr 23, 2024
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Labels
component:map Map creation, storage, and loading. (auto-assigned) type:new-feature New functionalities or additions, feature requests.
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