make pcd file from 2d lidar using cartographer asset_writer
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?