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Point Cloud Projection Converter#

This project includes a tool for converting point cloud data between different geodetic projection systems. The projection systems supported to convert from MGRS to Transverse Mercator.

The conversion details (input and output projection types) are specified in two YAML configuration files.

For example, to convert from MGRS to Transverse Mercator projection, you would use configuration files like this:

# input.yaml
projector_type: "MGRS"
mgrs_grid: "54SUE"

# output.yaml
projector_type: "TransverseMercator"
map_origin:
  latitude: xx
  longitude: yy

Dependencies#

  • PCL (Point Cloud Library) 1.3 or higher
  • yaml-cpp
  • GeographicLib
  • OpenMP

Usage#

ros2 run autoware_pointcloud_projection_converter pointcloud_projection_converter path_to_input_pcd_file path_to_output_pcd_file path_to_input_yaml path_to_output_yaml

Replace path_to_pointcloud_file, path_to_output_pcd_file, path_to_input_yaml, and path_to_output_yaml with the paths to your input YAML configuration file, output YAML configuration file, and PCD file, respectively.

Special thanks#

This package reuses code from kminoda/projection_converter. We have received permission to use it through this inquiry.