Revision as of 15:04, 15 June 2012

Registering pointclouds in ROS with PCL for Robot_Lab_(Spring_2012)

find some data

The data I used is dataset 14 at http://kos.informatik.uni-osnabrueck.de/3Dscans/

My python script, publish_from_file.py, can be easily adjusted to read any similar format, wherein each line gives the coordinates for a point. PLY is another option; PLY pointclouds can be loaded and viewed in Meshlab.

I didn't write any code to read pcl files, but this is the format that the pointcloud library reads and writes, so if you found some pcl data and like c++ that would also work.

pointcloud registration

$ rosmake register_pointclouds $ roscore $ rosrun register_pointclouds register $

tbd

• can rosparams be set in a config file somewhere and auto-loaded?
• it seems the /map frame in rviz is different from the /map topic? because rviz can't find the /map frame even when the /map topic is being published.

rviz view controls

• regular click: rotate the view
• shift-click: move the view or focal point
• host click / scroll: zoom

create a map from log data and watch it on rviz

$ roscore
$ rosparam set use_sim_time true
$ rosrun rviz rviz
# make sure map is checked and subscribed to topic /map
$ rosrun gmapping slam_gmapping scan:=base_scan
$ rosbag play ~/ros/gmap_tester.bag
$ rosrun map_server map_saver

topics

• gmapping:
  • /base_scan
  • /clock
  • /map
  • /map_metadata
  • /slam_gmapping/entropy
  • /tf

registration

• http://www.euclideanspace.com/maths/geometry/space/coordinates/index.htm

mapping from point clouds

• http://kos.informatik.uni-osnabrueck.de/3Dscans/
• http://www.ros.org/wiki/pointcloud_registration
• http://www.ros.org/wiki/pointcloud_to_laserscan
• https://code.ros.org/trac/wg-ros-pkg/browser/stacks/object_manipulation/branches/hri12/object_manipulator/src/object_manipulator/point_cloud.py?rev=52799
• https://code.ros.org/trac/wg-ros-pkg/browser/stacks/object_manipulation/branches/hri12/object_manipulator/src/object_manipulator/convert_functions.py?rev=52799