autoware_pointcloud_merger

This is a tool for processing pcd files, and it can perform the following functions:

• Merging multiple PCD files to a single PCD file
• Downsampling point clouds

Supported Data Format

Currently, only pcl::PointXYZ and pcl::PointXYZI are supported. Any PCD will be loaded as those two types .

This tool can be used with files that have data fields other than XYZI (e.g., XYZRGB) and files that only contain XYZ.

• Data fields other than XYZI are ignored during loading.
• When loading XYZ-only data, the intensity field is assigned 0.

Installation

cd <PATH_TO_pilot-auto.*> # OR <PATH_TO_autoware>
cd src/
git clone git@github.com:autowarefoundation/autoware_tools.git
cd ..
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests --symlink-install --packages-up-to autoware_pointcloud_merger

Usage

• Merger all PCD files from the input directory into a single output PCD

  ros2 launch autoware_pointcloud_merger pointcloud_merger.launch.xml input_pcd_dir:=<INPUT_DIR> output_pcd:=<OUTPUT_PCD>
  

INPUT_DIR and OUTPUT_PCD should be specified as absolute paths.

Parameter

{{ json_to_markdown(“map/autoware_pointcloud_merger/schema/pointcloud_merger.schema.json”) }}

LICENSE

Parts of files pcd_merger.hpp, and pcd_merger.cpp are copied from MapIV’s pointcloud_divider and are under BSD-3-Clauses license. The remaining code are under Apache License 2.0

Changelog for package autoware_pointcloud_merger

0.2.0 (2025-03-24)

0.1.0 (2025-01-28)

• unify version to 0.0.0

• chore: sync files (#11) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• Fixed a bug from autoware pointcloud merger (#111)

• feat(map): add pointcloud divider and pointcloud merger (#100)

  • Added point cloud merger
  • Update README and remove unused svg file
  • style(pre-commit): autofix
  • Fix pre-commit
  • style(pre-commit): autofix
  • Fix spell check
  • style(pre-commit): autofix
  • Fix pre-commit ci
  • Fix pre-commit ci
  • Fix pre-commit ci
  • Add autoware_ prefix to nodes
  • style(pre-commit): autofix
  • Add autoware_ prefix to pointcloud merger and divider; refactor code; rearrange files
  • Follow autoware directory structure
  • Move parameters to yaml files, create schema json files, and apply clang format
  • Fix an error while reading PCD file
  • style(pre-commit): autofix
  • Fix pre-commit ci
  • Fix pre-commit-optional
  • style(pre-commit): autofix
  • Fix merger's schema file
  • style(pre-commit): autofix
  • Fixed review comments
  • style(pre-commit): autofix

  * Fixed spell check ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yamato Ando <<yamato.ando@gmail.com>>

• Contributors: Anh Nguyen, Yutaka Kondo, awf-autoware-bot[bot]