make pcd file from 2d lidar using cartographer asset_writer

asked 2021-04-30 11:44:58 -0500

Hello, I want to made 2d vector map.

So, i want to convert my 2d bag and pbstream to pcd format file for making vector map

But, pcd is basically 3d format (when i checked public data that is provided by google cartographer, it was 3d )

how can i make pcd file using cartographer asset_writer_2d.launch and 2d lidar ?

https://github.com/cartographer-proje...

this is assets_writer_backpack_2d's lua file.

According to cartographer docs, write_pcd option existed.

So, i changed lua file

{ action = "write_ply", filename = "points.ply", },

to

{ action = "write_pcd", filename = "points.pcd", },

google cartographer's public data is converted to pcd well

but, my bag file and pbstream dont work on asset_writed_2d

and i found some confuse problem.

google cartographer's data (especially

wget -P ~/Downloads https://storage.googleapis.com/cartog...

roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag this bag file link : https://google-cartographer-ros.readt... )

i made 2d map using this bag following docs's example roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag

but when i made pcd using asset_write_2d and bag,pbstream, the result pcd file looks like 3d

what happen? bag file has originally 3d lidar data?

and i try to extract vertical_laser topic. i made bag file not including horizontal_laser

i make pcd file using just vertical_laser. but it is worked on asset_writer_2d and it is looks like 3d.

So, i try to convert my 2d lidar data to 3d lidar data.

But, i cant find z-axis.

how can i make pcd file?

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