Map Tools

A set of utility tools for map data

PCD Grid Divider

PCD Grid Divider creates PCDs divided into grids from PCDs that are not divided into grids.

How to launch

• From a sourced terminal:
  rosrun map_tools pcd_grid_divider point_type grid_size output_directory input_pcd1 input_pcd2 ...

grid_size: integer (1,5,10,100…)

In the directory you specified, you will see PCDs that divided into grids. The naming rule is *grid_size*_*lower bound of x*_*lower bound of y*.pcd

PCD Filter

PCD Filter downsamples PCDs by voxel grid filter.

How to launch

• From a sourced termina:
  rosrun map_tools pcd_filter point_type leaf_size input_pcd1 input_pcd2 ...

leaf_size: double (1,5,10,100…)

The downsampled files are saved in the same directory as the input pcd file. The naming rule is *leaf_size*_*original_name*

Changelog for package map_tools

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Update pcd_filter.cpp
• added const to function arguments
• updated README.md in map_tools package
• added pcd filter to README.md in map_tool package
• fixed pcd_filter.cpp to avoid loss of precision
• Contributors: Esteve Fernandez, amc-nu, mitsudome-r

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

1.8.0 (2018-08-31)

• [Fix] Moved C++11 flag to autoware_build_flags (#1395)
• [Feature] Makes sure that all binaries have their dependencies linked (#1385)
• [Fix] Extend and Update interface.yaml (#1291)
• Feature/pcd grid divider (#1271)
  • PCD Grid Divider added.
  • Clang format applied.
  • README added

  * Missing dependencies added. Unnecessary header removed.

  • Added CMake missing commands for installation on map_tools package
  • removed launch files installation for map_tools
• Contributors: Esteve Fernandez, Kenji Funaoka, Yuki Kitsukawa

1.7.0 (2018-05-18)

• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• Contributors: Kosuke Murakami

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

• Update CHANGELOG
• Contributors: Yusuke FUJII

1.6.1 (2018-01-20)

• update CHANGELOG
• Contributors: Yusuke FUJII

1.6.0 (2017-12-11)

• Prepare release for 1.6.0
• use header.frame_id included in initialpose topic
• bug fix on output filename.
• fix compile error in map_extender.
• Contributors: Yamato ANDO, yukikitsukawa

1.5.1 (2017-09-25)

• Release/1.5.1 (#816)
  • fix a build error by gcc version
  • fix build error for older indigo version
  • update changelog for v1.5.1
  • 1.5.1
• fix compile error in map_extender.
• Contributors: Yusuke FUJII, yukikitsukawa

1.5.0 (2017-09-21)

• Update changelog
• add map_extender
• Contributors: Yusuke FUJII, yukikitsukawa

1.4.0 (2017-08-04)

• version number must equal current release number so we can start releasing in the future
• added changelogs
• Contributors: Dejan Pangercic

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

1.2.0 (2017-06-07)

• add pcd2csv
• Contributors: yukikitsukawa

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

• pcd_binarizer supports PointXYZ, PointXYZI and PointXYZRGB
• pcd_filter supports PointXYZ, PointXYZI and PointXYZRGB
• Contributors: yukikitsukawa

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)

• Add pcd_converter.
• Output filtered PCD in Binary.
• add map_tools/pcd_arealist
• Add module graph tool
• Add map_tools.
• Contributors: USUDA Hisashi, kondoh, yukikitsukawa