feat(pointcloud projection converter): add new package, pointcloud projection converter #254
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Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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YamatoAndo
requested review from
RyuYamamoto,
anhnv3991,
SakodaShintaro,
Motsu-san and
TaikiYamada4
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
map/autoware_pointcloud_projection_converter/src/converter_to_llh.cpp
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map/autoware_pointcloud_projection_converter/src/pcd_conversion.cpp
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@YamatoAndo According to this guideline
Document structure
Should we add a launch file and a schema, too?
| # Find required packages | ||
| find_package(autoware_cmake REQUIRED) | ||
| autoware_package() | ||
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@YamatoAndo Do we need to add this?
if (${CMAKE_VERSION} VERSION_LESS "3.1.0")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
else ()
set(CMAKE_CXX_STANDARD 17)
endif ()```
| find_package(PCL REQUIRED) | ||
| include_directories( | ||
| ${PCL_INCLUDE_DIRS} | ||
| ) | ||
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| # Add the sub.cpp file as a library | ||
| add_library(converter_lib "src/converter_from_llh.cpp" "src/converter_to_llh.cpp") | ||
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| # Create executables | ||
| target_include_directories(converter_lib | ||
| SYSTEM PUBLIC | ||
| ${PCL_INCLUDE_DIRS} | ||
| ) | ||
| ament_auto_add_executable(pointcloud_projection_converter "src/pcd_conversion.cpp") | ||
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| # Link the libraries | ||
| target_link_libraries(converter_lib yaml-cpp ${PCL_LIBRARIES} ${GeographicLib_LIBRARIES}) | ||
| target_link_libraries(pointcloud_projection_converter converter_lib yaml-cpp ${PCL_LIBRARIES} ${GeographicLib_LIBRARIES}) |
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@YamatoAndo I think we can shorten this part a bit.
ament_auto_add_library(converter_lib src/converter_from_llh.cpp src/converter_to_llh.cpp)
target_link_libraries(converter_lib ${GeographicLib_LIBRARIES} ${PCL_LIBRARIES})
ament_auto_add_executable(pointcloud_projection_converter src/pcd_conversion.cpp)
target_link_libraries(pointcloud_projection_converter converter_lib yaml-cpp)
| ## Usage | ||
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| ```bash | ||
| ros2 autoware_pointcloud_projection_converter pointcloud_projection_converter path_to_input_yaml path_to_output_yaml path_to_input_pcd_file path_to_output_pcd_file |
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@YamatoAndo Are you missing a 'run' here?
ros2 run autoware_pointcloud_projection_converter pointcloud_projection_converter path_to_input_yaml path_to_output_yaml path_to_input_pcd_file path_to_output_pcd_file
| longitude: yy | ||
| ``` | ||
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| ## Dependencies |
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@YamatoAndo Regarding dependencies, do we have to add GeographicLib and OpenMP?
| <depend>geographiclib</depend> | ||
| <depend>libpcl-all-dev</depend> | ||
| <depend>yaml-cpp</depend> | ||
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@YamatoAndo If you add
<depend>pcl_conversions</depend>
You can shorten the CMakefiles.txt as I suggested above.
Besides, should <depend>libomp-dev</depend> be added, too?
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| // Copyright 2025 Autoware Foundation | |||
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@YamatoAndo I think .hpp files should be moved to another include/ directory. Something like this
Directory structure
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
@anhnv3991 OK, I will add them |
Description
This is a tool for converting the coordinate system of a PCD map.
Currently, it only supports converting from the MGRS coordinate system to a Transverse Mercator coordinate system with an arbitrary origin.
How was this PR tested?
prepare a single pcd map like the autoware sample map.
If you are using multiple split pcd maps, you need to merge them into a single pcd map (merge tool).
prepare config files containing the parameters before and after the coordinate transformation. Please refer to the files in the config folder as examples for how to write it.
Run the conversion using the following command:
[optional] Divide the output PCD map (divide tool).
Launch Autoware using the output pcd map and the config file (after the coordinate transformation) to confirm that works correctly.
Notes for reviewers
None.
Effects on system behavior
None.