Reconstruction results

[tompollok]

Great work! Would it be possible to provide the final pointcloud as a download? Maybe as one or multiple ply files?

[Wang Han 王晗]

Hi @tompollok

Thanks for you question.
I would like to recommend two ways

You may use pcd save function provided by PCL
pcl::io::savePCDFile( "cloud.pcd", *map, true );
You can add this function at mapping thread. However, you need to recompile the code

A faster way is to use ros_pcl
rosrun pcl_ros pointcloud_to_pcd input:=/map
You may also check the ros official website for more information
http://wiki.ros.org/pcl_ros