Exwayz Build Static Map aims at building a .map file usable by the Exwayz Navigation - v1 (latest) package from a dense point cloud.
<aside> đź’ˇ Check the Build a static map for the relocalization tutorial to learn easily how to build a static map for using then the relocalization feature of Exwayz Exwayz Navigation - v1 (latest) package.
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| Name | Command line prefix | Default value | Definition |
|---|---|---|---|
| Support Point cloud | -i |
Required | Path to support point cloud or a direcotry containing multiple point clouds (registered). |
| Output file name | -o |
- | Output file name. The resolution of the map will be automatically appended to the file name. |
| Map resolution | -s |
0.1 | The Exwayz map is sampled at -s (in meters) for memory and computing efficiency. It doesn’t mean that the localization will be less accurate than this input resolution. Basically, putting a resolution of 10cm is sufficient to get a 1-2cm accuracy in positionning. |
| Number of neighbors for normals | -k |
30 | The map contains, among other geometrical features, normals. These normals are computed using a -k-nearest neighbors search. |
| No suffix option | --no-suffix |
If set, the outputs will not have the resolution appended to the filename. | |
| Help | -h |
- | Display the help. |
<input_filename>_XXcm.map |
Exwayz .map file that can be used for the relocalization. The map, if georeferenced, comes with a .offset file that is expected to be named exactly as the map and found in the same folder. |
|---|---|
<input_filename>_XXcm.offset |
Map offset to apply to the map to get it in a global coordinate system. |
<input_filename>_XXcm.ply |
Visualizable point cloud of the map. This file can be used for map visualization while the relocalization is running, or for map inspection. |
<input_filename>_XXcm.sha1 |
Hash of the map file.This can be used in the relocalization configuration file as a safety check to ensure that the correct map is being used and wasn’t corrupted. |