CollaborativeMappingDebug

Collaborative Mapping Debug, test Matching

Environment:

Your computer should under the following environments:

• ubuntu16.04

• pcl1.7

• cmake

• eigen3

How to build

$ cd ~/CollaborativeMappingDebug
$ cmake .
$ make 

Running:

./main

The result:

Two global maps frame mapping result, please check MergePointCloud.pcd Two global whole maps result, please check MergeMap.pcd

# view some pcd file
pcl_viewer xx.pcd

# connect all the pcd files and generate a new one whose name is output.pcd
pcl_concatenate_points_pcd *.pcd

Other instructions

folder /PCD2 and /PCD3 contains global map:

• Surf-1.pcd is the first frame global map in CarB;

• Surf-223.pcd is the last frame global map in CarA;

• output.pcd in each folder is the whole global map in CarA and CarB.