map_merge_3d Documentation

map_merge_3d

Merging multiple 3D maps, represented as pointclouds, without knowledge of initial positions of robots.

• Homepage: http://wiki.ros.org/map_merge_3d

map_merge_3d provides services for merging 3D maps represented as pointclouds.

This package contains ROS node, two tools for offline merging of pcd files and a library API.

This library use PCL to manipulate pointclouds.

High-level interface

Simple to use interface for merging arbitrary number of maps. You need just

• map_merge_3d::estimateMapsTransforms to estimate transformations between maps
• map_merge_3d::composeMaps to stitch the global map

See Map merging

Low-level interface

Modules Features and Matching provide functions for extracting features, keypoints and various functions for estimating transformations. Those functions might come handy if you want to do custom pre- or post-processing.