Map Tools

A set of utility tools for map data

PCD Grid Divider

PCD Grid Divider creates PCDs divided into grids from PCDs that are not divided into grids.

From a sourced terminal:\ rosrun map_tools pcd_grid_divider point_type grid_size output_directory input_pcd1 input_pcd2 ...

point_type: PointXYZ | PointXYZI | PointXYZRGB

grid_size: integer (1,5,10,100...)

In the directory you specified, you will see PCDs that divided into grids. The naming rule is *grid_size*_*lower bound of x*_*lower bound of y*.pcd

PCD Filter downsamples PCDs by voxel grid filter.

From a sourced termina:\ rosrun map_tools pcd_filter point_type leaf_size input_pcd1 input_pcd2 ...

point_type: PointXYZ | PointXYZI | PointXYZRGB

leaf_size: double (1,5,10,100...)

The downsampled files are saved in the same directory as the input pcd file. The naming rule is *leaf_size*_*original_name*