From 4f61b39454d3bf19289fe1d477fd6c68f6521d44 Mon Sep 17 00:00:00 2001 From: ismetatabay Date: Wed, 22 Nov 2023 10:23:11 +0300 Subject: [PATCH] update introduction Signed-off-by: ismetatabay --- .../pointcloud-map-preprocessing/index.md | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-preprocessing/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-preprocessing/index.md index 90e21c222b7..81d107ef740 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-preprocessing/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-preprocessing/index.md @@ -2,10 +2,14 @@ ## Overview -When your created point cloud map is either too dense or too large (i.e., exceeding 300 MB), -you may want to downsample it for improved computational and memory efficiency. -Also, you can consider using dynamic map loading with partial loading, -please check [map_loader package](https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader) for more information. +Pointcloud map used in Autoware should be downsampled with a voxel size of around 0.1 to 0.2 meters +to minimize the computational costs and memory bandwidth load. +Also, +you may consider +using dynamic map loading with partial loading +if your map is still too large to handle as a single file +(~2 GB in PCD size). +Please check [map_loader package](https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader) for more information. At tutorial_vehicle implementation we will use the whole map, so we will downsample it with using [CloudCompare](https://www.cloudcompare.org/main.html).