# > 500 all methods

roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/cluster_b2000_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_cluster_b2000_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_cluster_b2000_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/cluster_b1500_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_cluster_b1500_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_cluster_b1500_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/cluster_b1000_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_cluster_b1000_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_cluster_b1000_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/cluster_b500_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_cluster_b500_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_cluster_b500_time.txt"



roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/ILP_b2000_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_ILP_b2000_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_ILP_b2000_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/ILP_b1500_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_ILP_b1500_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_ILP_b1500_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/ILP_b1000_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_ILP_b1000_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_ILP_b1000_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/ILP_b500_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_ILP_b500_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_ILP_b500_time.txt"


roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/predict_b2000_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_predict_b2000_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_predict_b2000_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/predict_b1500_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_predict_b1500_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_predict_b1500_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/predict_b1000_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_predict_b1000_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_predict_b1000_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/predict_b500_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_predict_b500_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_predict_b500_time.txt"


roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/voxel_b2000_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_voxel_b2000_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_voxel_b2000_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/voxel_b1500_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_voxel_b1500_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_voxel_b1500_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/voxel_b1000_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_voxel_b1000_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_voxel_b1000_time.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/voxel_b500_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_voxel_b500_pose.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_voxel_b500_time.txt"




# run random only

roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b2000_1_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b2000_pose_1.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b2000_time_1.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b1500_1_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1500_pose_1.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1500_time_1.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b1000_1_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1000_pose_1.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1000_time_1.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b500_1_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b500_pose_1.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b500_time_1.txt"

roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b2000_2_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b2000_pose_2.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b2000_time_2.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b1500_2_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1500_pose_2.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1500_time_2.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b1000_2_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1000_pose_2.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1000_time_2.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b500_2_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b500_pose_2.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b500_time_2.txt"

roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b2000_3_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b2000_pose_3.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b2000_time_3.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b1500_3_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1500_pose_3.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1500_time_3.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b1000_3_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1000_pose_3.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1000_time_3.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b500_3_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b500_pose_3.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b500_time_3.txt"

roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b2000_4_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b2000_pose_4.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b2000_time_4.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b1500_4_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1500_pose_4.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1500_time_4.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b1000_4_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1000_pose_4.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1000_time_4.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b500_4_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b500_pose_4.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b500_time_4.txt"

roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b2000_5_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b2000_pose_5.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b2000_time_5.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b1500_5_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1500_pose_5.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1500_time_5.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b1000_5_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1000_pose_5.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b1000_time_5.txt"
roslaunch map_compression locTestServer.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/random_b500_5_locTest.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b500_pose_5.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/results_0118/yq_random_b500_time_5.txt"










