How to generate Ndt map for apollo ndt localization?

[sinopec]

Thanks author, I can use the code generate a whole pointcloud map (PCD), but how can I transform the pcd into the format which canbe used in apollo ndt localization as a ndt local map?

[daohu527]

There is a tool to generate map in apollo, I will give the reference documentation soon!

[daohu527]

You can refer to the following tools in apollo to generate the NDT map.

modules/localization/ndt/map_creation

[mbing123]

When drawing map using RoadRunner to export Apollo format, how to eliminate the Z coordinates in .txt file.

[daohu527]

You can write a script to remove the z.