pcd binary format for .pcd maps

asked 2019-06-23 23:07:06 -0500

cassini.huygens gravatar image

Hi all,

I tried to use this tool https://www.youtube.com/watch?v=WTRHP... and with my own generated .pcd map. For some reason when I import it in Unity I cannot see the .pcd file i imported. (it even has 0 verts 0 tris). It does work with Autoware's .pcd files tho.

Thanks!

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Comments

Try changing your pcd file to binary format, it might be ASCII.

i_robot_flight gravatar imagei_robot_flight ( 2019-07-01 16:58:29 -0500 )edit

Thanks, a format conversion from pcd to binary pcd was necessary. I used pcl library to convert but apparently it can be done using Autoware's GUI.

cassini.huygens gravatar imagecassini.huygens ( 2019-07-01 21:27:30 -0500 )edit

@cassini.huygens How can we do it by using Autoware's GUI??

AM97 gravatar imageAM97 ( 2019-07-03 16:38:46 -0500 )edit

go to 'map' tab use 'Ref' to choose which .pcd you want to binarize then use 'PCD Binarizer' and choose your point type.

cassini.huygens gravatar imagecassini.huygens ( 2019-07-05 17:47:35 -0500 )edit