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the replay scan folder, you will not gain any additional disk space since the original file is used
elsewhere. If you delete the original file, you will not gain any additional disk space since it is
being held until all hard links to the file have been deleted. If you copy folders with a hard link in
them to an external drive, you will copy the complete file over, so you may end up copying the
raw data file many times if you are copying multiple replayed folders.
REPLAYING BAG FILES IN LOCALIZATION MODE
Localization is a powerful feature for registering point clouds together without having to go
through a separate alignment process. Localization ensures point clouds from Kaarta’s mobile
mapping system can be joined seamlessly. It is pretty straightforward to replay a file in
localization mode that was already collected in either mapping or localization mode.
Since you are replaying a pre-recorded .bag raw data file, you might need to start from a location
different than the origin of the apriori map unless you recorded the data with that in mind to
begin with.
To adjust the starting location to a different portion of the apriori map, you will need to translate
and rotate the starting orientation to be consistent with where you were physically when you
recorded the .bag raw data file. You can do this by using the Localization from Last Mode and
adding a XXX_pose.txt file with the starting location and orientation that you can select with the
choose last pose icon on the desktop for live localization or from dialog box when using Adaptive
Data Replay. One way to determine the pose and yaw values to put into this file is to:
1. Load the apriori point cloud and the Circle_Centered.obj file into CloudCompare.
2. Translate the radian circle in X-Y until it lines up with the starting location.
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