ClementLeBihan

You can add the feature by editing scanRegistration.cpp by : ``` std::vector scanStartInd(N_SCANS, 0); std::vector scanEndInd(N_SCANS, 0); double timeScanCur = laserCloudMsg->header.stamp.toSec(); pcl::PointCloud laserCloudIn; pcl::PointCloud laserCloudIn_vel; pcl::fromROSMsg(*laserCloudMsg, laserCloudIn); pcl::fromROSMsg(*laserCloudMsg, laserCloudIn_vel); std::vector...

Please read the error ;) you forgot to add velodyne_pointcloud in the CMakeList and in your package.xml. Moreover, donc forget to build velodyne_pointcloud (http://wiki.ros.org/velodyne_pointcloud)...

I’m really happy you succeed ;) For the frame problem, the point cloud advertise on LOAM topics are in camera’s frame ! And the camera’s frame is z forward. So...

Yes of course, to 32 or 64 ;)

You can save all the registered cloud in laserMapping.cpp in the camera_init frame ;) ``` std::ostringstream titlePC; titlePC

Hi, got the same problem. Waiting for advices ...

Hi @goldbattle, here is a link to download the bag : https://magcloud.magellium.com/owncloud/index.php/s/Kvb5T3Dr2GkNol6 Best, Clément

I did a first try with a setting Add Accumulation that load additional frames'pc and append it in the existing pc ...  To do so, I...

On our side we just added a checkbox that enable exporting original files 

Adding `"resultType":"GROUND_TRUTH"` make it work. We could may be add it in the documentation.