README.md

map_generation

This repo belongs to my online internship in State Grid

1) How to use

将变化单体替换进原始地图

param1: 平移 param2: 旋转 param3： 残缺 param4：缩放

./map pcd地图 pcd单体 param1 param2 param3 param4 + ..... （1执行，0不执行）

#***************** sh run.sh *****************

unit中存放了pcd单体和pcd地图

2) Basic Show

Gazebo Simulation

SLAM and Object Extraction

Map Generation in Random

Difference Detection and Color

We detect the model difference between CAD provided and Point Cloud scaned, then color the different parts.