标签:graph slam thresh Example1 closing Save loop interactive
Example1
koide3 edited this page on 29 Oct 2019 · 5 revisionsIn this example, we correct a map (pose graph) constructed by hdl_graph_slam.
Example bag file: hdl_400_dumped.tar.gz (The example file can be reproduced with hdl_graph_slam)
- Start interactive_slam
rosrun interactive_slam interactive_slam
- Open graph directory
Menubar -> File -> Open -> New map -> Choose hdl_400_dumped directory
- Perform automatic loop closing
Menubar -> Graph -> Automatic loop detection
Configure the loop detection parameters as follows and press "Start" button:
Scan matching
- Method: NDT_OMP
- Fitness score thresh: 0.5
Loop detection
- Distance thresh: 20
- Accum distance thresh: 25 or 0.5 (dense loop closing)
Before loop closing:
After loop closing (Accum distance thresh = 25):
(Doubled walls are corrected)
After dense loop closing (Accum distance thresh = 0.5):
- Save corrected graph
Menubar -> File -> Save -> Save map data -> Choose the destination directory
- Export point cloud
Menubar -> File -> Save -> Export point cloud -> Choose the destination filename
You can open the exported point cloud with any PCD compliant viewers (e.g., pcl_viewer and CloudCompare)
标签:graph,slam,thresh,Example1,closing,Save,loop,interactive 来源: https://www.cnblogs.com/winslam/p/14954044.html
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