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ANYbotics / grid_map

Universal grid map library for mobile robotic mapping
BSD 3-Clause "New" or "Revised" License
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2.5D grid map to 2d grid map #353

Open macTracyHuang opened 2 years ago

macTracyHuang commented 2 years ago

I'm new to mapping, and am able to convert my pcd file genereated from SLAM now. I was wondering if there is a way to generate a 2D grid map from pcd file directly or from the 2.5D grid map generated by grid_map_pcl?

I noticed there is a grid_map_filter package that can outout occupancy map , I'm not sure if I can use it to filter the 2.5D map.

Any suggestion will be appreciated.

thanks

Magnusgaertner commented 2 years ago

Hi @macTracyHuang,

I am sure you have read the readme for https://github.com/ANYbotics/grid_map/tree/master/grid_map_pcl.

Can you clarify your goal? grid_map_pcl converts a point cloud into a 2D grid containing a height value per cell. Do you want to have a binary, 2D grid that represents occupancy? In this case you can threshold the height values using grid_map_filters/ThresholdFilter.

Best Magnus