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daohu527 / ndt_mapping

Baidu apollo offline mapping tool
Apache License 2.0
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Use ndt-map for Apollo #3

Closed AlexandrZabolotny closed 2 years ago

AlexandrZabolotny commented 3 years ago

Hello Answer me please. How can I use this map for ndt localization in Apollo?

daohu527 commented 3 years ago

This map is not used as a location map, there are other ways to create a location map. I am still optimizing it.

I will post the tutorial when I’m ready

daohu527 commented 3 years ago

You can use point cloud maps to make NDT location maps.

At present, this tool has been implemented in the ndt location module. I will add this document later

AlexandrZabolotny commented 3 years ago

It will be an interesting and very useful tool.

WhutChengjun commented 2 years ago

How to build the localization module in apollo? The system of our vehicle is apollo5.5. Firstly, i copied the entire directory ndt_mapping to apollo's modules/localization/msf/local_tool/, secondly, i used the command "bash apollo.sh build_opt.gpu" in the docker environment for compiling, but compilation failed, the error is 微信图片_20211218165247

daohu527 commented 2 years ago

question

You can try bash apollo.sh build.

bash apollo.sh build_opt.gpu is gpu mode and I'm not sure it will work.

addition

I found that I overlooked a problem. I assume that the coordinates of IMU and lidar are the same. In fact, the system may not be like this, so it is best to add IMU to Lidar coordinate conversion.