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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Comments

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 imagePatrick N. ( 2020-02-13 14:39:44 -0600 )edit