Vector Map Builder Problem

[shpark98]

vectormapbuiler.mp4

Here are the two issues I am encountering with the Vector Map Builder.
These may not be actual problems, so your confirmation would be appreciated:

1. PCD Loading Issue

When loading specific PCD maps, some PCDs do not appear.

However, they do appear when loaded alongside other PCDs (this part is not included in the video).

Could it be that only PCDs with certain formats are being loaded correctly?

2. Vector map 3D Problem

https://youtu.be/nEnA6QVFCKk?list=PLtZzEYCY8wLzOlv06XeHkUG79vKgyP_YX

The PCD from the sample rosbag pcd map provided by Autoware does not appear in 3D when the "3D" option is clicked, even though it is visible in 2D. Is this because 3D is not supported, or is there another issue causing this?

By this video, it switches to 3D. But when I tried it myself, as previous video it didn't work.

Currently, when drawing with vectormap builder on an existing pcd map, there is a problem with the roadway being in the air, which is difficult to solve if the lane is drawn in 2D.

Separate Question:
Would it be acceptable to use RoadRunner to create a vector map?

[urayuto]

1. PCD Loading Issue
   If no errors appear when loading the PCD, it can be assumed that the loading process is successful. While the video did not provide sufficient details, could you please check the following points?

   • Are the coordinates of the PCD correct?
   • Could it simply be that the PCDs are overlapping?
   • Is it possible that the color of the PCD is black?

2. Vector Map 3D Problem
   If the map does not display in 3D, it’s possible that the camera position is misaligned. Have you tried zooming out or dragging the camera to adjust its position? I recommend enabling the Vector Map display simultaneously to help pinpoint the correct location. Please give that a try.

If these steps do not resolve the issue, sharing the PCD file would allow us to investigate in more detail.

[shpark98]

@urayuto

Thanks for your reply

https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/

gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1A-8BvYRX3DhSzkAnOcGWFw5T30xTlwZI'
unzip -d ~/autoware_map/ ~/autoware_map/sample-map-rosbag.zip

Can you check if it is ok to convert 3d from 2d with sample-map-rosbag?

this is autoware's tutorial pcd map

[shpark98]

Yesterday, it didn’t work well, but today it’s working fine.

It seems that when I first import the PCD file generated by SLAM and then import Autoware's sample map PCD file, the 2D-to-3D functionality doesn’t work at all.

However, I just confirmed that if I proceed with the sample map PCD file for 2D-to-3D conversion from the beginning, it works perfectly.

Thank you so much for your help.

But then, why doesn’t the PCD file I generated with SLAM work?

https://drive.google.com/file/d/1u6RKow93RcQctsz25aaYASnJIZMAse5I/view?usp=drive_link

this is my pcd map.

I would sincerely appreciate it if you could take a look at this.

[shpark98]

After converting to PCD Binary to ASCII and removing the NaN values, it loaded successfully in both 2d and 3d Thanks!!