autoware_pointcloud_merger#

This is a tool for processing pcd files, and it can perform the following functions:

Merging multiple PCD files to a single PCD file
Downsampling point clouds

Supported Data Format#

Currently, only pcl::PointXYZ and pcl::PointXYZI are supported. Any PCD will be loaded as those two types .

This tool can be used with files that have data fields other than XYZI (e.g., XYZRGB) and files that only contain XYZ.

Data fields other than XYZI are ignored during loading.
When loading XYZ-only data, the intensity field is assigned 0.

Installation#

cd <PATH_TO_pilot-auto.*> # OR <PATH_TO_autoware>
cd src/
git clone git@github.com:autowarefoundation/autoware_tools.git
cd ..
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests --symlink-install --packages-up-to autoware_pointcloud_merger

Usage#

Merger all PCD files from the input directory into a single output PCD
```
ros2 launch autoware_pointcloud_merger pointcloud_merger.launch.xml input_pcd_dir:=<INPUT_DIR> output_pcd:=<OUTPUT_PCD>
```
Name Description

INPUT_DIR Directory that contains all input PCD files

OUTPUT_PCD Name of the output PCD file

INPUT_DIR and OUTPUT_PCD should be specified as absolute paths.

Parameter#

Name	Type	Description	Default	Range
leaf_size	float	Resolution in meter for downsampling the output PCD. Setting to negative to get the raw output PCD.	-0.1	N/A
input_pcd_dir	string	The path to the folder containing the input PCD files		N/A
output_pcd	string	The path to the merged PCD file		N/A
point_type	string	Type of the point when processing PCD files. Could be point_xyz or point_xyzi	point_xyzi	N/A

LICENSE#

Parts of files pcd_merger.hpp, and pcd_merger.cpp are copied from MapIV's pointcloud_divider and are under BSD-3-Clauses license. The remaining code are under Apache License 2.0

Name	Description
INPUT_DIR	Directory that contains all input PCD files
OUTPUT_PCD	Name of the output PCD file