chengkaiqiang
6213262140
v-0.1.1-1:20240806
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3 bulan lalu | |
|---|---|---|
| .. | ||
| nodes | 3 bulan lalu | |
| CMakeLists.txt | 3 bulan lalu | |
| README.md | 3 bulan lalu | |
README.md
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.
How to launch
- 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
PCD Filter downsamples PCDs by voxel grid filter.
How to launch
- 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*