how to generate local_map for MSF localization

[2012131967]

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System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Linux Ubuntu 22.04
• Apollo installed from (source or binary):source
• Apollo version (3.5, 5.0, 5.5, 6.0):apollo-v7.0.0
• Output of apollo.sh config if on master branch:

Steps to reproduce the issue:

• Please use bullet points and include as much details as possible:
• I run/pollo/scripts/msf_simplice_map_reactor. sh apollo/data/records/ /apollo/modules/localization/msf/params/velodyne_params/ls32_novatel_extrinsics.yaml 50 /apollo/mymap
  However, the map I obtained was not ideal, it was like this, very poor.
  
  Then I use
  ./bazel-bin/modules/localization/msf/local_tool/data_extraction/cyber_record_parser --bag_file=data/bag/mydata.record --out_folder=data --cloud_topic=/apollo/sensor/lslidar32/compensator/PointCloud2

./bazel-bin/modules/localization/msf/local_tool/map_creation/poses_interpolator --input_poses_path=data/pcd/odometry_loc.txt --ref_timestamps_path=data/pcd/pcd_timestamp.txt --extrinsic_path=modules/localization/msf/params/velodyne_params/ls32_novatel_extrinsics_example.yaml --output_poses_path=data/pcd/poses.txt
I have obtained the PCD file and poses. txt, as follows:

Then the map I created using/apollo/scripts/msd_local_map_reactor. sh was exactly the same as before. What should I do?

Supporting materials (screenshots, command lines, code/script snippets):

[2012131967]

Is it because I haven't done calibration?

[boyang9602]

Calibration could be a reason.

I have some lessons below:

1. Make sure the LiDAR and pose are in the same reference system. For example, if the pose is in the IMU reference system while the LiDAR is in the LiDAR reference system, you need to convert LiDAR to IMU (or IMU to LIDAR, if you only care about the map).
2. LiDAR quality is important. Apollo expects a 64-channel LiDAR. I can create good maps with KITTI, which also uses a 64-channel LIDAR. However, I cannot for KAIST Urban Complex dataset (16-channel LiDAR). I guess the reason is the resolution of LiDAR. Your LiDAR seems like a 32-channel one.
3. Make sure the pose file is correct: the order for quaternion is xyzw, instead of wxyz.
4. Apollo version. Seems Apollo 7 or after has bugs in map creation. Apollo v5.0.0 works for me.