Can't use multiple "--bag_file" to extract multiple bag files

[mbing123]

I can use multiple "--bag_file" to extract multiple bag files (apollo r5.5) What can I do for it to extract multiple bag file one time

[daohu527]

I also noticed the difference, which version of apollo have the problem?

[mbing123]

apollo r5.5.0

[daohu527]

@mbing123 apollo r5.5.0 don't support multiple --bag_file. You can refer to other versions to implement it, of course I forget whether it is 5.0 or 6.0

[mbing123]

Do you mean that I can refer to version 5.0 or 6.0 to modify the 5.5 related files? Or replace version 5.5 all?

[daohu527]

ndt_mapping have error with apollo 6.0 for now. you can just ref the cyber_record_parser code alone.

[mbing123]

I'll try it now. Thanks

[mbing123]

When I made a map of 43 files, it took me 80 hours to make an output.pcd. Is it normal to take such a long time?

[daohu527]

No, normally 43 files will be fast in a few minutes.

When the outfile gets bigger, the speed will get slower. Pls check the output file size

[mbing123]

I mean 43 recorded files, over 25,000 pcd files when unzipped. The resulting output.pcd file size is 759M

[daohu527]

That seems normal, since there is no parallel processing at the moment.

Decreasing how the output point cloud is matched can reduce the time, but I haven't tried it yet. For example, only a portion of the output point cloud is captured for matching instead of all

[mbing123]

I see. I really appreciate it

[daohu527]

@mbing123 By comparing the previous 3 frames instead of the entire map, the speed has now been greatly improved. I created a map about 600 frames which cost 2600s (43min)