version: "1"
app_id: scan2fullpcd
app_version: "1.0.0"
hidden: true
name: Scan合并全图PCD
name_en: Scan Merge to Full PCD
name_ru: Объединение сканов в полный PCD
description: 读取scan目录下的kf_*.pcd关键帧，合并为单一full_map.pcd
description_en: Reads kf_*.pcd keyframes from scan directory and merges into a single full_map.pcd.
description_ru: Читает ключевые кадры kf_*.pcd из директории сканов и объединяет в один full_map.pcd.
command_template: "{{app_dir}}/bin/scan2fullpcd --input_dir {{input_dir}} --scan_dir {{scan_dir}} --output_pcd {{output_pcd}}"
parameters:
  - name: input_dir
    type: path
    required: false
    description: 含有scan子目录的父目录（自动拼接/scan）
    source_dir: /home/ramy/savemap
  - name: scan_dir
    type: path
    required: false
    description: 直接指定scan目录（优先级高于input_dir）
    source_dir: /home/ramy/savemap
  - name: output_pcd
    type: path
    required: false
    description: 输出PCD文件路径（默认{input_dir}/full_map.pcd）
    source_dir: /home/ramy/savemap
