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From what i understand, Octomap is not a 3D reconstruction or alignment tool. Given the transformations between pointclouds, it integrates the pointclouds into a 3D map. It builds 3D occupancy maps which can be used for 3d navigation.

As given in roswiki page of octomap_server. cloud_in (sensor_msgs/PointCloud2): Incoming 3D point cloud for scan integration. You need to remap this topic to your sensor data and provide a tf transform between the sensor data and the static map frame.

It needs the TF data from some other source such as RGBSLAM or CCNY_RGBD . You can have a look at them.

Please correct me if i am wrong

From what i understand, Octomap is not a 3D reconstruction or alignment tool. Given the transformations between pointclouds, it integrates the pointclouds into a 3D map. It builds 3D occupancy maps which can be used for 3d navigation.

As given in roswiki page of octomap_server. cloud_in (sensor_msgs/PointCloud2): Incoming 3D point cloud for scan integration. You need to remap this topic to your sensor data and provide a tf transform between the sensor data and the static map frame.

It needs the TF data from some other source such as RGBSLAM or CCNY_RGBD or RTABMAP. You can have a look at them.

Please correct me if i am wrong