tool for generate and visualize inter-dataset loop closure for long-term SLAM
├──LIO_connector
├── ...
├── src
│ ├── ...
│ └── mian.cpp # Tool for gathering the inter dataset loop closure based on DiSco SLAM
├── scripts
│ └── load_map_cloud.py # Tested with Python 2.7
└── launch
└── visualization.launch
- run load_map_cloud.py for the pcd pointcloud of the whole map
python2 load_map_cloud.py <directory to the datasets, ie:NCLT-1-3>
- change the file name in visualization.launch to the name of the output file from load_map_cloud.py
- run visualization.launch to see the total point cloud (it takes some time to load the point cloud.)
roslaunch lio_connector visualization.launch
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