livox_mapping将点云保存为pcd或者ply格式

wzy012

livox_mapping如何将点云保存为pcd或者ply格式

3dmapmaker

Edit your launch file. for me it was mapping_horizon.launch
change line 9 from

1. <param name="map_file_path" type="string" value=" " />

Copy the code

to:

1. <param name="map_file_path" type="string" value=" /home/yourname/Documents/livox_pcd_files" />

Copy the code

Or where ever you would like to store it.

wzy012

3dmapmaker Posted at 2021-5-20 03:43
Edit your launch file. for me it was mapping_horizon.launch
change line 9 from

我试过了，并没有保存的pcd，不知道什么原因

3dmapmaker

wzy012 Posted at 2021-5-25 21:27
我试过了，并没有保存的pcd，不知道什么原因

Make sure you create the folder first and you have rights to write to it.

On my Jetson AGX I have to open the folder once when I start up the computer or else nothing will write to it. The reason being is its and external harddrive. On my other machines I do not have to open it first. As long as the folder exists it writes to it.

wzy012

I probably know what reason,I run livox lidar and livox_mapping packages with rosbag ,it is offline,now I try to run it online,thanks!

wzy012

3dmapmaker Posted at 2021-5-26 03:08
Make sure you create the folder first and you have rights to write to it.

On my Jetson AGX I have ...

I probably know what reason,I run livox lidar and livox_mapping packages with rosbag ,it is offline,now I try to run it online,thanks!

wzy012

wzy012 Posted at 2021-5-26 09:41
I probably know what reason,I run livox lidar and livox_mapping packages with rosbag ,it is offli ...

Thanks! Thank you very much!I try to run them online,successful!

3dmapmaker

wzy012 Posted at 2021-5-26 09:50
Thanks! Thank you very much!I try to run them online,successful!

Strange it does not run offline. I record the point cloud using ROS on a raspberry pie. Then copy the bag file to another computer. I then launch lidar_mapping in one terminal and rosbag play the file in another. When done playing I close livox_mapping with control C and it saves the file.

wzy012

3dmapmaker Posted at 2021-5-26 22:48
Strange it does not run offline. I record the point cloud using ROS on a raspberry pie. Then copy  ...

if it is offline，it‘s not works！I dont know the reasons.

momei

I have successfully parsed the point cloud data in *.lvx format into PLY and PCD formats (expandable to various common formats you need). Contact me if necessary, email: www.fxw66697@gmail.com