pcd_save function commented

[ghommyl]

/**************** save map ****************/
    /* 1. make sure you have enough memories
    /* 2. noted that pcd save will influence the real-time performences **/
    
    if (pcd_save_en)
    {
        int size = feats_undistort->points.size();
        PointCloudXYZI::Ptr laserCloudWorld( \
                        new PointCloudXYZI(size, 1));

        for (int i = 0; i < size; i++)
        {
            RGBpointBodyToWorld(&feats_undistort->points[i], \
                                &laserCloudWorld->points[i]);
        }
        *pcl_wait_save += *laserCloudWorld;

        static int scan_wait_num = 0;
        scan_wait_num ++;
        if (pcl_wait_save->size() > 0 && pcd_save_interval > 0  && scan_wait_num >= pcd_save_interval)
        {
            pcd_index ++;
            string all_points_dir(string(string(ROOT_DIR) + "PCD/scans_") + to_string(pcd_index) + string(".pcd"));
            pcl::PCDWriter pcd_writer;
            cout << "current scan saved to /PCD/" << all_points_dir << endl;
            pcd_writer.writeBinary(all_points_dir, *pcl_wait_save);
            pcl_wait_save->clear();
            scan_wait_num = 0;
        }
    }

The code at laserMapping.cpp is commented by default

[ZewdieMc]

I uncommented it. Set the pcd_save_en to true and the pcd_save_interval to a value greater than 0(100 for example) in the YAML file. Then it saves .pcd files at the specified pcd_save_interval.