Tools used to handle PointCloud data

• NDT_Mapping[#TODO]
• pcd_grid_divider
• pcd_filter[#TODO]

PCD Grid Divider creates PCDs divided into grids from PCDs that are not divided into grids.

• From a sourced terminal:
  rosrun map_tools pcd_grid_divider point_type grid_size input_directory output_directory

point_type: PointXYZ | PointXYZI | PointXYZRGB

grid_size: integer (1,5,10,100...)

input-directory: String output-directory: String (Be Sure the directory exits, it won't create the directory automatically)

In the directory you specified, you will see PCDs that divided into grids. The naming rule is *grid_size*_*lower bound of x*_*lower bound of y*.pcd

example: rosrun map_tools pcd_grid_divider PointXYZ 30 /home/pc/maps/origin_maps /home/pc/maps/grid_maps