MS-Mapping Tools

[TOC]

Scripts	Test Data
Merge map	coming soon..
Separate Trajectory	coming soon..
Visualize Graph Error Adjustment	graph_error.txt
Visualize Trajectory	session_*.txt

Merge map

Set your folder path, if you use CP2 to do incrimental mapping based on CP5, you must set the map folder of CP2 as new_pcd_folder, and set all the map folder of old sessions in the old_pcd_folders.

# Configuration
new_pcd_folder = '/media/xchu/UBUNTU 20_0/results_ms/CP05-CP02-CS1-CC1-PK1-IA3-IA4-NG'

old_pcd_folders = [
    '/media/xchu/UBUNTU 20_0/results_ms/CP05-CP02-CS1-CC1-PK1-IA3-IA4',
    '/media/xchu/UBUNTU 20_0/results_ms/CP05-CP02-CS1-CC1-PK1-IA3',
    '/media/xchu/UBUNTU 20_0/results_ms/CP05-CP02-CS1-CC1-PK1',
    '/media/xchu/UBUNTU 20_0/results_ms/CP05-CP02-CS1-CC1',
    '/media/xchu/UBUNTU 20_0/results_ms/CP05-CP02-CS1',
    '/home/xchu/data/pose_slam_prior_result/CP05-CP02',
    # Add more old folders as needed
]

Run

python3 multi-session-map-merger2.py

Finally we can get the merd point cloud map in /media/xchu/UBUNTU 20_0/results_ms/CP05-CP02-CS1-CC1-PK1-IA3-IA4-NG/merged_results

Run

pcl_viewer merged_map_session_*

Separate Trajectory

The same setting as Merge map

Run

python3 multi-session-map-merger_writetum.py

Visualize Trajectory

Set the trajectory folder

pose_folder = "/media/xchu/UBUNTU 20_0/results_ms/CP05-CP02-CS1-CC1-PK1-IA3-IA4-NG/merged_results"  # 请替换为实际的文件夹路径

Run

python3 tum-trajectory-plotter.py

Visualize Graph Error Adjustment

set the file path of graph_error.txt, this file will automatically saved after mapping.

Run

python3 graph_error_viewer.py