:<<BLOCK
roslaunch map_compression randomSampleMap.launch keepPointsNum:="75651" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b1000_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="75651" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b1000_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="75651" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b1000_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="75651" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b1000_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="75651" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b1000_random_5.ply"

roslaunch map_compression randomSampleMap.launch keepPointsNum:="169305" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b2000_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="169305" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b2000_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="169305" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b2000_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="169305" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b2000_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="169305" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b2000_random_5.ply"

roslaunch map_compression randomSampleMap.launch keepPointsNum:="279252" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b3000_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="279252" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b3000_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="279252" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b3000_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="279252" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b3000_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="279252" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b3000_random_5.ply"

roslaunch map_compression randomSampleMap.launch keepPointsNum:="406702" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b4000_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="406702" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b4000_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="406702" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b4000_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="406702" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b4000_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="406702" loadMapName:="/home/yh/mapModel/2019/07.22/wholeMap_yq.ply"  saveMapName:="/home/yh/mapModel/2019/07.22/loc/loc_yq_b4000_random_5.ply"




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:<<BLOCK



roslaunch map_compression randomSampleMap.launch keepPointsNum:="44748" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b1000_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="44748" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b1000_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="44748" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b1000_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="44748" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b1000_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="44748" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b1000_random_5.ply"

roslaunch map_compression randomSampleMap.launch keepPointsNum:="95078" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b2000_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="95078" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b2000_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="95078" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b2000_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="95078" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b2000_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="95078" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b2000_random_5.ply"



roslaunch map_compression randomSampleMap.launch keepPointsNum:="149546" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b3000_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="149546" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b3000_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="149546" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b3000_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="149546" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b3000_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="149546" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b3000_random_5.ply"

roslaunch map_compression randomSampleMap.launch keepPointsNum:="207002" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b4000_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="207002" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b4000_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="207002" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b4000_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="207002" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b4000_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="207002" loadMapName:="/home/yh/mapModel/2019/07.21/wholeMap_kitti.ply"  saveMapName:="/home/yh/mapModel/2019/07.21/loc/loc_kitti_b4000_random_5.ply"


BLOCK



roslaunch map_compression randomSampleMap.launch keepPointsNum:="15029" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_01_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="15029" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_01_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="15029" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_01_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="15029" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_01_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="15029" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_01_random_5.ply"

roslaunch map_compression randomSampleMap.launch keepPointsNum:="30057" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_02_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="30057" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_02_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="30057" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_02_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="30057" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_02_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="30057" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_02_random_5.ply"



roslaunch map_compression randomSampleMap.launch keepPointsNum:="45086" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_03_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="45086" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_03_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="45086" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_03_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="45086" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_03_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="45086" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_03_random_5.ply"

roslaunch map_compression randomSampleMap.launch keepPointsNum:="60114" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_04_random_1.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="60114" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_04_random_2.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="60114" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_04_random_3.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="60114" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_04_random_4.ply"
roslaunch map_compression randomSampleMap.launch keepPointsNum:="60114" loadMapName:="/home/yh/mapModel/2019/07.23/wholeMap_park.ply"  saveMapName:="/home/yh/mapModel/2019/07.23/loc/loc_park_04_random_5.ply"







