一.如何运行：

launch/mapgen.launch.

<launch>

<node name="kitti_mapgen" pkg="erasor" type="kitti_mapgen" output="screen">
    <rosparam param="/map/voxelsize">0.2</rosparam>		
    <rosparam param="/map/target_rosbag">"05_2350_to_2670_w_interval_2_node.bag"</rosparam>
    <rosparam param="/map/save_path">"/media/shapelim/UX960NVMe1/deep_express/kitti_rosbag"</rosparam>
    <rosparam param="/map/viz_interval">1</rosparam>
    <rosparam param="/large_scale/is_large_scale">true</rosparam>
</node>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find erasor)/rviz/kitti_mapgen.rviz"/>

</launch>

参数修改：

target_rosbag：播放的bag包

save_path：存储原始地图

roscore # (Optional)
roslaunch erasor mapgen.launch
rosbag play 05_2350_to_2670_w_interval_2_node.bag

结果是深度图和栅格地图被存储在save_path路径中。深度图被用于

run_erasor.launch

<launch>

<node name="offline_map_updater" pkg="erasor" type="offline_map_updater" output="screen">
    <rosparam param="/large_scale/is_large_scale">true</rosparam>
    <rosparam param="/large_scale/submap_size">160.0</rosparam>
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find erasor)/rviz/erasor_map.rviz"/>
<node name="rviz_body" pkg="rviz" type="rviz" args="-d $(find erasor)/rviz/srt.rviz"/>

<arg name="target_seq" default="05"/>
<group if="$(eval arg('target_seq') ==00)">
    <rosparam command="load" file="$(find erasor)/config/seq_00.yaml" />
</group>
<group if="$(eval arg('target_seq') ==01)">
    <rosparam command="load" file="$(find erasor)/config/seq_01.yaml" />
</group>
<group if="$(eval arg('target_seq') ==02)">
    <rosparam command="load" file="$(find erasor)/config/seq_02.yaml" />
</group>
<group if="$(eval arg('target_seq') ==05)">
    <rosparam command="load" file="$(find erasor)/config/seq_05.yaml" />
</group>
<group if="$(eval arg('target_seq') ==07)">
    <rosparam command="load" file="$(find erasor)/config/seq_07.yaml" />
</group>


</launch>

在config/seq_05.yaml里配置参数：

initial_map_path: The path of naively accumulated map(即上一步骤的输出地图)

save_map:保存filtered static map

子图被用于提取map VOI（地图感兴趣区域）

rostopic pub /saveflag std_msgs/Float32 "data: 0.2"

保存点云，保存到save_path里

二.什么是PR/RR？

三.如何运行自己的数据集？

参考：src/offline_map_updater/main_in_your_env.cpp

launch/run_erasor_in_your_env_vel16.launch

数据存储结构：

`data_dir`
_____pcds
     |___000000.pcd
     |___000001.pcd
     |___000002.pcd
     |...
_____dense_global_map.pcd
_____poses_lidar2body.csv
_____...

然后运行：

roslaunch erasor run_erasor_in_your_env_vel16.launch

<launch>
<rosparam command="load" file="$(find erasor)/config/your_own_env_vel16.yaml" />

<node name="main_in_your_env_ros" pkg="erasor" type="main_in_your_env_ros" output="screen">
    <rosparam param="/large_scale/is_large_scale">true</rosparam>
    <rosparam param="/large_scale/submap_size">40.0</rosparam>
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find erasor)/rviz/erasor_map_in_your_env_v2.rviz"/>
<node name="rviz_body" pkg="rviz" type="rviz" args="-d $(find erasor)/rviz/srt.rviz"/>

</launch>

需要自己写数据包的文件。

main_in_your_env.cpp仅实现了读取离线地图