Using norlab_icp_mapper in Python
This guide assumes that you have libpointmatcher Python bindings installed in your Python environment.
Also note that you need the mapper not only built, but also installed on your device, otherwise the Python binding will not find the library.
run the following commands to install Python bindings into your current python environment:
cd python
pip install .
Now test your installation with
python -c "from norlab_icp_mapper import *"
You can then run an example that builds a map from consecutive scans, similarly to the one described in Example: building a map from lidar scans.
cd examples
pip install -r requirements.txt
python build_map_from_scans_and_trajectory.py
data.
The default configuration file is located in config.yaml.
The final map will be saved in data/map_python.vtk.
