pcd2octomap

package for pcd file convert to octomap file like .bt or .ot.

Dependencies

1. Eigen >= 3.3.7

2. PCL >= 1.9.0

3. octomap and octovis

   sudo apt install ros-noetic-octomap*
   sudo apt install ros-noetic-octovis*
   

Usage

1. git clone https://github.com/siyiovo/pcd2octomap.git to in $YOUR_WORKSPACE_FOLDER/src

2. set definition of point type in /include/pcd2octomap/point_type_pcd_octomap_converter.hpp

   this package support pcl::PointXYZ, pcl::PointXYZRGB and pcl::PointXYZRGBA.

   default : typedef pcl::PointXYZ PointT;

3. catkin build
   source ./devel/setup.bash
   roslaunch pcd2octomap convert.launch
   

4. if terminal show Octomap save to xxx, just check via octovis

   octovis $YOUR_OCTOMAP_FILE

Parameters

check config/pcd2octomap_params.yaml

octree_resolution: resolution of octree. default: 0.05

voxel_grid_leaf_size: leaf size of voxel grid filter. default: 0.05

map_pose: control your map rotation. ex. your LiDAR sensor is inverted, you should set roll: 180