diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/.pages b/docs/how-to-guides/integrating-autoware/creating-maps/.pages index 8ee0b8f40c7..1e22641fb76 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/.pages +++ b/docs/how-to-guides/integrating-autoware/creating-maps/.pages @@ -2,3 +2,4 @@ nav: - index.md - Open-source SLAM algorithms: open-source-slam - Converting UTM map to MGRS map: convert-utm-to-mgrs-map + - Pointcloud map downsampling: pointcloud-map-downsampling diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/convert-utm-to-mgrs-map/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/convert-utm-to-mgrs-map/index.md index 4aaed1a4528..6cedb27f2ef 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/convert-utm-to-mgrs-map/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/convert-utm-to-mgrs-map/index.md @@ -67,4 +67,44 @@ longitude and altitude values in the navsatfix message from your GNSS/INS sensor After that, you need to convert latitude and longitude values to northing and easting values. You can use any converter on the internet for converting latitude longitude values to UTM. -(i.e., [UTM converter](https://www.latlong.net/lat-long-utm.html)) +(i.e., [UTMconverter](https://www.latlong.net/lat-long-utm.html)) + +Now, we are ready to update `pc_utm_to_mgrs_converter.param.yaml`, +example for our navsatfix message: + +```diff +/**: + ros__parameters: + # Northing of local origin +- Northing: 4520550.0 ++ Northing: 4542871.33 + + # Easting of local origin +- Easting: 698891.0 ++ Easting: 658659.84 + + # Elipsoid Height of local origin +- ElipsoidHeight: 47.62 ++ ElipsoidHeight: 74.28 +``` + +Lastly, we will update input and pointcloud the map path in `pc_utm_to_mgrs_converter.launch.xml`: + +```diff +... +- ++ +- ++ +... +``` + +After the setting of the package, we will launch pc_utm_to_mgrs_converter: + +```bash +ros2 launch pc_utm_to_mgrs_converter pc_utm_to_mgrs_converter.launch.xml +``` + +The conversion process will be started, +you should see `Saved data points saved to ` message on your terminal. +So, MGRS format pointcloud map saved on your output map directory. diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/lio-sam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/lio-sam/index.md index 3c410c5ae7e..be1275496de 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/lio-sam/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/lio-sam/index.md @@ -198,6 +198,11 @@ Here is the video for demonstration of LIO-SAM mapping in our campus environment ![type:video](https://youtube.com/embed/0EX9U95oecw) +The output map format is local UTM, +we will change local UTM map to MGRS format for tutorial_vehicle. +Also, if you want change UTM to MGRS for autoware, +please follow [convert-utm-to-mgrs-map](../../convert-utm-to-mgrs-map) page. + ## Example Result
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/.pages b/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/.pages new file mode 100644 index 00000000000..35fd5a113be --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/.pages @@ -0,0 +1,2 @@ +nav: + - index.md diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/images/select-map.png b/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/images/select-map.png new file mode 100644 index 00000000000..4b090cbee7c Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/images/select-map.png differ diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/index.md new file mode 100644 index 00000000000..5fab653c3c1 --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/index.md @@ -0,0 +1,38 @@ +# Pointcloud map downsampling + +## Overview + +In some cases, for example, +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. + +At tutorial_vehicle implementation we will use the whole map, +so we will downsample it with using [CloudCompare](https://www.cloudcompare.org/main.html). + +## Installing CloudCompare + +You can install it by snap: + +```bash +sudo snap install cloudcompare +``` + +Please check the [official page](https://www.cloudcompare.org/release/index.html#CloudCompare) +for installing options. + +## Downsampling a pointcloud map + +There are three [subsampling methods on CloudCompare](https://www.cloudcompare.org/doc/wiki/index.php/Edit%5CSubsample), +we are using `Space` method for subsampling, but you can use other methods if you want. + +1. Please open CloudCompare and drag your pointcloud to here, then you can select your pointcloud map by just clicking on the map at the DB tree panel. +2. Then you can click `subsample` button on the top panel. + +
+ ![db-tree-panel](images/select-map.png){ align=center } +
+ CloudCompare +
+