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autoware_pointcloud_projection_converter package from autoware_tools repo

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Package Summary

Tags No category tags.
Version 0.2.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_tools.git
VCS Type git
VCS Version main
Last Updated 2025-07-01
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

autoware_pointcloud_projection_converter

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Taiki Yamada
  • Shintaro Sakoda
  • Anh Nguyen
  • Ryu Yamamoto
  • Masahiro Sakamoto

Authors

  • Koji Minoda
map/autoware_pointcloud_projection_converter/README.md

Point Cloud Projection Converter

This project includes a tool for converting point cloud data between different geodetic projection systems. The projection systems supported to convert from MGRS to Transverse Mercator.

The conversion details (input and output projection types) are specified in two YAML configuration files.

For example, to convert from MGRS to Transverse Mercator projection, you would use configuration files like this:

# input.yaml
projector_type: "MGRS"
mgrs_grid: "54SUE"


# output.yaml
projector_type: "TransverseMercator"
map_origin:
  latitude: xx
  longitude: yy

Dependencies

  • PCL (Point Cloud Library) 1.3 or higher
  • yaml-cpp
  • GeographicLib
  • OpenMP

Usage

ros2 run autoware_pointcloud_projection_converter pointcloud_projection_converter path_to_input_pcd_file path_to_output_pcd_file path_to_input_yaml path_to_output_yaml

Replace path_to_pointcloud_file, path_to_output_pcd_file, path_to_input_yaml, and path_to_output_yaml with the paths to your input YAML configuration file, output YAML configuration file, and PCD file, respectively.

Special thanks

This package reuses code from kminoda/projection_converter. We have received permission to use it through this inquiry.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
autoware_internal_debug_msgs
pcl_conversions

System Dependencies

Name
geographiclib
libomp-dev
libpcl-all-dev
yaml-cpp

Dependant Packages

No known dependants.

Launch files

  • launch/pointcloud_projection_converter.launch.xml
      • input_pcd_file
      • output_pcd_file
      • input_config_file [default: $(find-pkg-share autoware_pointcloud_projection_converter)/config/input.yaml]
      • output_config_file [default: $(find-pkg-share autoware_pointcloud_projection_converter)/config/output.yaml]

Messages

No message files found.

Services

No service files found

Plugins

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Recent questions tagged autoware_pointcloud_projection_converter at Robotics Stack Exchange

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