How to Generate Local Map For MSF Localization Module¶
Prerequisites¶
Download source code of Apollo from GitHub
Follow the tutorial to set up docker environment.
~~Download localization data from the Multi-Sensor Fusion Localization Data（US only).~~
Download localization dataset: please contact Yao Zhou, zhouyao@baidu.com, to request the dataset. Requests need contain the following: (1) Email address and affiliation (business or school); (2) Application purpose.
Build Apollo¶
First check to make sure you are in development docker container before you proceed. Now you will need to build from source:
# To make sure you start clean
bash apollo.sh clean
# Build the full system
bash apollo.sh build_opt
Generate Localization Map¶
In the downloaded data, look for a folder named apollo3.5. Let’s assume the path of this folder to be DATA_PATH.
/apollo/scripts/msf_simple_map_creator.sh DATA_PATH/records/ DATA_PATH/params/velodyne_params/velodyne128_novatel_extrinsics.yaml 10 OUT_FOLDER_PATH
After the script is finished, you can find the produced localization map named local_map in the output folder.
The scripts also stores the visualization of each generated map node in the map’s subfolder named image. The visualization of a map node filled with LiDAR data looks like this:
