PCD with global coordinates?

[antoniomontana1992]

Is it possible to create .pcd files with global coordinates?

[stah-ba]

@antoniomontana1992 did you solve the issue? Or how did you continue?

[lukasj-imar]

There is a field in the pcl object, which is called sensor_origin. You can use this field to define your offset in a geodetic reference frame.

[antoniomontana1992]

I dont know if this is the right way, but what i did is to keep the first fixed reading from my RTK sensor, and then start liosam. While the map is finished, i make the conversion with pdal based on the first reading of my location.

[stah-ba]

Alright, thanks for the quick answers! @lukasj-imar so you also use only the first GPS measurement as a offset as sensor origin for the mapped cloud?

[lukasj-imar]

Yes, i take a geocentric coordinate from GPS as sensor origin. Each point of the cloud is represented in an ENU frame which has his origin in this sensor origin.