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