SLAM-使用C++基于激光点云实现的SLAM算法端到端系统设计-优质项目实战.zip

laser_slam_tools ================== Useful tools to support laser mapping. Requires [volumetric_mapping](https://github.com/ethz-asl/volumetric_mapping.git) ## laser_to_octomap Creates octomap by successively inserting scans from the laser_mapper trajectory. Useful if there were loop closures. Usage: `rosrun laser_slam_tools laser_to_octomap output_file_path arg_name arg_val` Possible arguments are: * **resolution** Octomap resolution * **probability_hit** Probability of sensor beam hit * **probability_miss** Probability of sensor beam miss * **sensor_max_range** Maximum range of sensor ## octomap_to_point_cloud Saves occupied leaf nodes of octomap as point cloud. Supported output file formats are .pcd and .ply. Usage: `rosrun laser_slam_tools octomap_to_point_cloud input_file_path output_file_path`