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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

<centre> <img src="https://github.com/Yixin-F/map_generation/blob/main/img/gazebo.png" width="60%"> </centre>

SLAM and Object Extraction

<centre> <img src="https://github.com/Yixin-F/map_generation/blob/main/img/object.png" width="60%"> </centre>

Map Generation in Random

<centre> <img src="https://github.com/Yixin-F/map_generation/blob/main/img/mg.png" width="60%"> </centre>

Difference Detection and Color

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

<centre> <img src="https://github.com/Yixin-F/map_generation/blob/main/img/diff.png" width="60%"> </centre>