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Building HD-Map using PCD. How to get a clean map like sample-moriyama?

asked 2020-02-13 08:30:37 -0600

ljna gravatar image

Hi I am trying to build an HD Map using Ouster-OS1-64 Lidar. I followed the below steps for the same. 1)Recorded the lidar point data (sensor_msgs/pointcloud2) topics in rosbag. 2)loaded the autoware. 2.1) simulation tab --> loaded bag file (play->pause) 2.2) computing tab --> check ndt_mapping (pcl_anh) 2.3) setup --> enable TF and vehicle_model 2.4) play the bag 2.5) PCD output. 3)loaded PCD output to cloudcompare 4)compared it with sample-moriyama pcd in cloud compare

The sample-moriyama pcd map looked very neat and clear. while mine was not. My pcd file does not seems to contain any rgb information.

Is there any step/procedure that I am missing? How can I get a clean map like sample-moriyama?

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This might not be an answer but the sample .pcd might have been made by a company who specializes in mapping and not made with ndt_mapping from the pointcloud in the bagfile.

Patrick N. gravatar image Patrick N.  ( 2020-02-13 14:39:44 -0600 )edit

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answered 2020-03-01 06:22:16 -0600

Josh Whitley gravatar image

Patrick N is correct. The sample-moriyama data were gathered by a professional map generation company (I believe Aisan). You will not be able to gather RGB data with the point cloud using the tools that are available in at the moment. However, provided that the collection area is only a few blocks, I have seen ndt_mapping create some pretty decent maps. Try running the process again and see if the output improves.

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Asked: 2020-02-13 08:30:37 -0600

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Last updated: Mar 01 '20