robustfieldautonomylab/la3dm

Learning-aided 3D mapping

la3dm's Issues

visualization

Hi,

I am able to run the demos, and the relevant topics seems to be working :
/occupied_cells_vis_array
/ray

however, I am not sure how to visualize the demo. I tried to run the rviz existing files, for e.g:
rosrun rviz rviz sim_structured.rviz

but it results in an empty grid.

I am using melodic. is this an issue?

How to change the map input?

Hi, I was wondering if it be possible to pass in our own octomap or sensor data and see how the algorithm would improve the mapping of it?

use bgkoctomap to update original existed map

Hi,
if I already have a initial map, how can I do mapping with this initial map?

Code reorg

Currently substantial redundancy in data structures and functions.

Many functions can be broken out into common/ e.g. bbox(cloud, lim_min, lim_max) among others.

Furthermore, GPOctoMap and BGKOctoMap share mostly the same data structures; this can definitely be cleaned up, rather than redefining everything under separate namespaces, as is currently the case.

get the mapping using rosbag

Hi, how can I get the mapping result using the bag in the data file, so I can get the result
as it shows in the video