create a map in a pcd file using kitti datasets

Question

i want to use kitti datasets- I have transformed kitti dataset to a rosbag file.

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Originally posted by ilyess on ROS Answers with karma: 21 on 2017-08-27

Post score: 2

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Original comments

Comment by jayess on 2017-08-27:
What have you tried so far?

Comment by ilyess on 2017-08-28:
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.

Comment by vkee on 2017-08-30:
I don't think that would necessarily create a map of the entire rosbag's raw data? See my answer below.

Answer 1

Try using NDT (normal distribution transform) mapping.

• Open source implementation
• YouTube guide for creating pcd file using Autoware
• Paper on NDT

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Originally posted by ckirksey with karma: 203 on 2017-08-29

This answer was NOT ACCEPTED on the original site

Post score: 1

Answer 2

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

If you use the velo_64 branch (https://github.com/vkee/loam_velodyne/tree/velo_64), it should work out of the box and you'll get a low drift map!

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Originally posted by vkee with karma: 127 on 2017-08-30

This answer was NOT ACCEPTED on the original site

Post score: 1

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Original comments

Comment by ilyess on 2017-12-30:
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 ?

Comment by vkee on 2017-12-30:
You should be able to use this function (http://docs.pointclouds.org/trunk/group__io.html#ga09bdff6c474655ebbefa8a97de669ece) to save the pcl Point Cloud as a PCD file.

Comment by ilyess on 2017-12-31:
i believe these functions can only save only one capture at the time of map but not the hole map.

Comment by vkee on 2017-12-31:
You can use something like this function (http://docs.pointclouds.org/trunk/classpcl_1_1_point_cloud.html#af2065290a879e08ec1f500a33e1cf086) to add all the clouds together into one cloud and then save that as a PCD.