Example3
In this example, we correct a distorted map with loop closing, edge refinement, and plane constraints, then merge it with another map.
Example graph files:
- centrair_100_corrected.tar.gz (18MB)
- centrair_101_graph.tar.gz (200MB)
Open "centrair_101_graph":
Menubar -> File -> Open -> New map -> Choose "centrair_101_graph"
You see a largely distorted map generated from odometry data given by LeGO-LOAM (Disable z_clipping in the Shader setting window to see the entire map). Let's correct this using several map correction features.
Choose two keyframes to make a loop constraint.
Right click a keyframe -> Loop begin -> Right click another one -> Loop end
You'll see a sub-window to estimate the relative pose between the selected keyframes. First, make an initial guess using FPFH-based pose estimation:
Auto align -> OK
This global registration method may fail sometimes. If it fails, align the keyframes roughly using "PX, PY, PZ, RX, RY, RZ" pose controllers. Once the keyframes are roughly aligned, perform scan matching for fine registration: Scan matching -> OK Check if the alignment is fine, and then click Add edge to add a relative pose edge to the pose graph.
Note: see PCL documentation(FPFH, Registration) for the details of the parameters.
