Is it possible to convert mesh or point cloud to grid map?

asked 2017-04-13 01:53:57 -0600

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updated 2017-04-13 01:56:18 -0600

I'd like to convert mesh or point cloud to occupancy grid map like gmapping result. I get mesh and point cloud data from ZED because 3D SLAM by ZED API is great and the API supports to save 3D SLAM result as mesh and cloud data.

I know that there are some 3D SLAM packages like rtabmap and so on. But in my experience, 3D SLAM by ZED API is better. If you know whether it is possible to convert mesh or point cloud to grid map, could you tell me how to do so?

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Are you wanting to convert a 3D point cloud to a 2D grid map?

Airuno2L ( 2017-04-13 11:07:48 -0600 )edit

Almost yes. I'd like to know how to convert 3d point cloud "or" 3d mesh to 2d grid map. I want to convert 3d data to 2d data. Then I want to use 2d data for autonomous navigation. I use Turtlebot2 with amcl_demo for autonomous navigation.

graziegrazie ( 2017-04-14 04:08:47 -0600 )edit

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answered 2017-05-14 23:26:10 -0600

M@t

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I'm a bit late but this elevation mapping library may also do what you want. It takes in a point cloud and publishes an robot-centric elevation map of the format grid_map_msg/GridMap (which is a unique message format from the grid map library arunavanag linked you to).

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answered 2017-04-13 02:10:04 -0600

arunavanag

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You might be able to use this for converting point cloud into grid map. The wiki is here . Alternatively, If the point cloud is already "organized" ( http://pointclouds.org/documentation/... ), then you can build the map by sampling the point cloud randomly.

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Thank you for your reply!

As a result of checking grid map package you proposed, I found that grid map package can't convert to the grid map which turtlebot2 use for amcl_demo.

graziegrazie ( 2017-04-14 04:15:46 -0600 )edit

And could you tell me more detail of your proposed alternative method. I checked the link(link text) , but I couldn't understand what you mentioned.

graziegrazie ( 2017-04-14 04:16:34 -0600 )edit

@graziegrazie So when you have a organized dataset it will be easy for your to sample it. "The advantages of an organized dataset is that by knowing the relationship between adjacent points (e.g. pixels)". So using this you can build your 2D grid maps and get the rows and column accurately.

arunavanag ( 2017-04-15 02:25:16 -0600 )edit

@arunavanag I found that the organized data means the ones like point cloud of structure. Yes, I have the ones. Thank you for your answer. I'll search more detail and try it with using PCL and so on.

graziegrazie ( 2017-04-24 02:42:22 -0600 )edit

No problem... however on the way in future you might just find pcl is not efficient enough as it slows down your process. At some point you want to have your own structs and classes to define your point cloud. Anyhow this is much ahead. Try out that first.

arunavanag ( 2017-04-24 03:05:12 -0600 )edit

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Is it possible to convert mesh or point cloud to grid map?

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