pointcloud_divider
(Updated 2023/03/27)
Dividing large PCD files into 2D grids.
Currently, only pcl::PointXYZI is supported. Any PCD will be loaded as pcl::PointXYZI.
Installation
mkdir -p hoge_ws/src
cd hoge_ws/src
git clone git@github.com:MapIV/pointcloud_divider.git
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Usage
- Select directory, process all files found with
find $INPUT_DIR -name "*.pcd".
cd hoge_ws
./src/pointcloud_divider/scripts/pointcloud_divider.sh <INPUT_DIR> <OUTPUT_DIR> <PREFIX> <CONFIG>
- Select individual files
cd hoge_ws
./src/pointcloud_divider/scripts/divider_core.sh <PCD_0> ... <PCD_N> <OUTPUT_DIR> <PREFIX> <CONFIG>
| Name | Description |
|---|---|
| INPUT_DIR | Directory that contains all PCD files |
| PCD_N | Input PCD file name |
| OUTPUT_DIR | Output directory name |
| PREFIX | Prefix of output PCD file name |
| CONFIG | Config file (default) |
Parameter
-
use_large_grid
Pack output PCD files in larger grid directory
-
merge_pcds
Merge all grid into a single PCD
-
leaf_size
leaf_size of voxel grid filter [m]
-
grid_size_x(/y)
Size of grid [m]
Metadata YAML Format
The metadata file should be named metadata.yaml. It contains the following fields:
x_resolution: The resolution along the X-axis.y_resolution: The resolution along the Y-axis.
Additionally, the file contains entries for individual point cloud files (.pcd files) and their corresponding grid coordinates. The key is the file name, and the value is a list containing the X and Y coordinates of the lower-left corner of the grid cell associated with that file. The grid cell's boundaries can be calculated using the x_resolution and y_resolution values.
For example:
x_resolution: 100.0
y_resolution: 150.0
A.pcd: [1200, 2500] # -> 1200 <= x <= 1300, 2500 <= y <= 2650
B.pcd: [1300, 2500] # -> 1300 <= x <= 1400, 2500 <= y <= 2650
C.pcd: [1200, 2650] # -> 1200 <= x <= 1300, 2650 <= y <= 2800
D.pcd: [1400, 2650] # -> 1400 <= x <= 1500, 2650 <= y <= 2800
...LICENSE
This repository is under BSD-3-Clauses license