In your SLAM session directory, create a dedicated Relocalization sub-directory and go in it:

mkdir ./4_relocalization
cd ./4_relocalization

The exwayz_build_static_map.exe expects

• An support point cloud path, or directory containing multiple point cloud files (useful if merged with a --split option)
• A map resolution in meters

Build a map on the merged point cloud created in 6. Merge frames into a dense point cloud with the following command

exwayz_build_static_map -i ../3_merge -s 0.2

As an output, you’ll have in the current directory

• a .map file, which is the structure usable for the relocalization

• a .offset file, which is the offset of the map.

  <aside> 💡 The .map file only contains local coordinates, but as long as the offset file stay next to it, the offset will be loaded by the map when doing relocalization

  </aside>

• a .ply file, that is a subsampled version of the support point cloud, that is useful for visualization purposes

• a .sha1 file, which is the hash of the .map file

Optional parameters