Questions about session_data generation
YukioZzz opened this issue · comments
Hi, I found that the SC-PGO saver in FAST-LIO-SLAM will not save singlesession_posegraph.g2o and SCDs which are required by lt-mapper.
So actually, we can only use SC-LIO-SLAM saver to generate session data right?
sc-a-loam (https://github.com/gisbi-kim/SC-A-LOAM ) currently suppports meta-data saver (see https://github.com/gisbi-kim/SC-A-LOAM/blob/321cb4b07b7815c114237ce5d87014d2e46b972c/src/laserPosegraphOptimization.cpp#L132)
the file laserPosegraphOptimization.cpp in sc-a-loam does not yet be physically copied (or syncronized) within the fast-lio-slam repo, but I think you can easily copy and paste the file to the directory here https://github.com/gisbi-kim/FAST_LIO_SLAM/tree/main/SC-PGO/src