









roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b4000_ILP.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b4000_ILP.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b4000_learn.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b4000_learn.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b4000_voxel.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b4000_voxel.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b4000_cluster.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b4000_cluster.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b4000_observe.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b4000_observe.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b4000_saliency.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b4000_saliency.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"




roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b4000_random_1.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b4000_random_1.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b4000_random_2.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b4000_random_2.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b4000_random_3.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b4000_random_3.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b4000_random_4.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b4000_random_4.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b4000_random_5.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b4000_random_5.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"









roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b3000_ILP.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b3000_ILP.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b3000_learn.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b3000_learn.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b3000_voxel.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b3000_voxel.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b3000_cluster.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b3000_cluster.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b3000_observe.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b3000_observe.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b3000_saliency.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b3000_saliency.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"



roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b3000_random_1.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b3000_random_1.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b3000_random_2.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b3000_random_2.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b3000_random_3.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b3000_random_3.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b3000_random_4.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b3000_random_4.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b3000_random_5.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b3000_random_5.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"














roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b2000_ILP.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b2000_ILP.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b2000_learn.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b2000_learn.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b2000_voxel.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b2000_voxel.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b2000_cluster.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b2000_cluster.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b2000_observe.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b2000_observe.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b2000_saliency.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b2000_saliency.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"





roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b2000_random_1.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b2000_random_1.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b2000_random_2.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b2000_random_2.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b2000_random_3.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b2000_random_3.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b2000_random_4.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b2000_random_4.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b2000_random_5.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b2000_random_5.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"








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roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b1000_ILP.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b1000_ILP.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b1000_learn.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b1000_learn.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b1000_voxel.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b1000_voxel.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b1000_cluster.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b1000_cluster.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b1000_observe.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b1000_observe.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b1000_saliency.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b1000_saliency.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"





roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b1000_random_1.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b1000_random_1.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b1000_random_2.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b1000_random_2.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b1000_random_3.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b1000_random_3.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b1000_random_4.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b1000_random_4.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"

roslaunch map_compression locTest_kitti_server.launch wholeMapName:="/home/yinhuan/Data/mapModel/locTest/kitti/loc_kitti_b1000_random_5.ply" savePoseName:="/home/yinhuan/Data/mapModel/locTest/kitti_pose/pose_kitti_b1000_random_5.txt" saveTimeName:="/home/yinhuan/Data/mapModel/locTest/time.txt" saveIterName:="/home/yinhuan/Data/mapModel/locTest/iter.txt"



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