add pcd saving function

2021-07-06 02:41:52 -04:00 · 2021-07-06 02:41:52 -04:00 · c18e1169cc
parent 845e20355b
commit c18e1169cc
1 changed files with 4 additions and 0 deletions
--- a/README.md
+++ b/README.md
@ -135,6 +135,10 @@ Step C: Run LiDAR's ros driver or play rosbag.
 *Remarks:*
 - We will produce some velodyne datasets which is already transfered to Rosbags, please wait for a while.

+### 3.4 PCD file save
+
+Set ``` pcd_save_enable ``` in launchfile to ``` 1 ```, every frame will be saved as an independent .PCD file in ``` FAST_LIO/PCD/ ``` directory.
+
 ## 4. Rosbag Example
 ### 4.1 Indoor rosbag (Livox Avia LiDAR)