修改mapping.yaml文件中bag_path:
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完成之后会产生一系列的点云文件以及Keyframe.txt文件:
bash
./bin/run_frontend --config_yaml ./config/mapping
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生成拼接的点云地图map.pcd文件 :
bash
./bin/dump_map --pose_source=lidar
。、
完成第一次优化:
bash
./bin/run_optimization --stage=1
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完成回环检测:
bash
./bin/run_loopclosure
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完成第二轮优化:
bash
./bin/run_optimization --stage=2
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完成优化后的地图拼接:
bash
./bin/dump_map --pose_spurce opti2
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完成地图的导出及切片,导出的点云文件在map_data文件夹中:
bash
./bin/split_map
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导入地图并基于先验地图进行地图的加载和卸载,以及点云配准定位:
bash
./bin/run_fusion_offline
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