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combining pcd maps

asked 2019-07-03 08:47:50 -0500

Badhan gravatar image

updated 2019-07-03 11:30:39 -0500

Hi, I am using Autoware v1.1 software in Ubuntu 16.04 (Kinetic) platform. Autoware software uses ROS functionalities. I want to combine/stitch 16 pcd files [eg. 1.pcd, 2.pcd, 3.pcd and so on] and create a global pcd file. When I upload pcd files for Mapping in Runtime Manager tab of the Autoware software, it gives me an overlapped map of those pcd files. I followed @wallizadaM and @kitsukawa [, issue #533, topic: Stitching the .pcd mapps] who were describing their method for combining pcd files. However, I don't have the ndt_localizer package which @wallizadaM suggested to manually combine pcd files and @kitsukawa method weren't suitable for my aim. Can you help me solve this problem? How can I combine or stitch muliple pcd files (local maps) to create a global pcd file?

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answered 2019-07-03 10:39:56 -0500

kosmastsk gravatar image

Take a look on the libpointmatcher library. As it says:

How to I build a global map from a sequence of scans? See the example align_sequence.cpp.

I think this contains what you need!

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The link which you gave me doesn't open. I am unable to see the example align_sequence.cpp. Is align_sequence.cpp a source file of the Autoware software?

Badhan gravatar image Badhan  ( 2019-07-03 11:15:55 -0500 )edit

The file is in here. It is a library totally different from Autoware, but it can handle .pcd files the way you want.

kosmastsk gravatar image kosmastsk  ( 2019-07-03 11:19:52 -0500 )edit

Hi. Thankyou for giving me the cpp file. However, I don't know how to use it for combining pcd files. Can you please help me on that?

Badhan gravatar image Badhan  ( 2019-07-09 13:05:19 -0500 )edit

The align.cpp file that you gave me only reads the point cloud data from a file and creates a map. I am looking for a package that will allow me to combine multiple pcd files containing point cloud maps into a pcd file containing the combined map generated from maps of multiple pcd files using that particular package. Can anyone help me??

Badhan gravatar image Badhan  ( 2019-07-25 08:23:56 -0500 )edit

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Asked: 2019-07-03 08:47:50 -0500

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Last updated: Jul 03 '19