Examples
We provide ready-to-use launch files for some datasets.
KITTI
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sequence 00 |
sequence 02 |
sequence 17 |
There is a launch file that you can use to reproduce some of the images above. You can run it with:
$ roslaunch open3d_slam_ros kitti.launch
Make sure that you place the rosbag in the data folder and name it kitti00.bag or you can enter the path manually in the launch file directly (open3d_slam_ros/launch/examples/kitti.launch). The tuning for velodyne HDL64 sensor used in the dataset is in the open3d_slam_ros/param/params_velodyne_hdl64.yaml. For sequences 02 and 17 you might have to increase the loop closure search radius to 40 meters.
TODO add more examples