segmap localization调参

kitti_localization.yaml里面

此处我们用loam与segmap联合定位，用loam作为里程计，然后segmap订阅其里程计信息，
具体修改为： https://github.com/ethz-asl/segmatch/blob/master/laser_mapper/launch/kitti/kitti_localization.yaml#L14 和
和 https://github.com/ethz-asl/segmatch/blob/master/laser_mapper/launch/kitti/kitti_localization.yaml#L15

odom_frame: "camera_init", #world改为camera_init   
  
sensor_frame: "camera", #velodyne改为camera   

再就是localization里的

 GeometricConsistency: {
      recognizer_type: "Incremental", #"Simple", "Partitioned"
      resolution: 1, #0.4改为1
      min_cluster_size: 5, #6改为5
      max_consistency_distance_for_caching: 1.0, #缓存的最大一致距离 1.0
    }

这个模块

kitti_localization.launch里面

需要改

<!-- Bag file path -->  
<arg name="bag_file" value="你的rosbag路径"/>
<!-- Target cloud -->
<arg name="target_cloud" value="你的pcd地图文件路径"/>
<!-- rosbag player node -->
<node name="player" pkg="rosbag" type="play" output="screen" args=" -r $(arg play_rate) -s 2 --clock --pause $(arg bag_file)"/> 这里看情况自己修改