how to generate local_map for MSF localization

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System information

OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Linux Ubuntu 22.04
Apollo installed from (source or binary):source
Apollo version (3.5, 5.0, 5.5, 6.0):apollo-v7.0.0
Output of apollo.sh config if on master branch:

Steps to reproduce the issue:

Please use bullet points and include as much details as possible:
I run/pollo/scripts/msf_simplice_map_reactor. sh apollo/data/records/ /apollo/modules/localization/msf/params/velodyne_params/ls32_novatel_extrinsics.yaml 50 /apollo/mymap However, the map I obtained was not ideal, it was like this, very poor. Then I use ./bazel-bin/modules/localization/msf/local_tool/data_extraction/cyber_record_parser --bag_file=data/bag/mydata.record --out_folder=data --cloud_topic=/apollo/sensor/lslidar32/compensator/PointCloud2

./bazel-bin/modules/localization/msf/local_tool/map_creation/poses_interpolator --input_poses_path=data/pcd/odometry_loc.txt --ref_timestamps_path=data/pcd/pcd_timestamp.txt --extrinsic_path=modules/localization/msf/params/velodyne_params/ls32_novatel_extrinsics_example.yaml --output_poses_path=data/pcd/poses.txt I have obtained the PCD file and poses. txt, as follows: mmexport1731833437899 Then the map I created using/apollo/scripts/msd_local_map_reactor. sh was exactly the same as before. What should I do?

Supporting materials (screenshots, command lines, code/script snippets):

mmexport1731833439772

ApolloAuto / apollo