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pointcloud_to_laserscan on dataset not with kinect

asked 2012-01-23 21:21:15 -0500

Vihari gravatar image

updated 2012-01-23 21:23:26 -0500

Hello everyone, I am a newbie here and I was trying to use some visual slam, RGBD slam and all such things until I have seen this pointcloud_to_laserscan. Now that, I want to see how good it is (by seeing the maps it produces and from odometry data computed from the laserscans) by testing it on the kinect datasets may be because I dont have kinect right now. So, is there a way to do it with this pointcloud_laserscan package. [Note: I am a complete newbie here so many things are pretty unclear to me at present, so I would appreciate if you can help me more elaborately.] Thank you. Vihari.

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answered 2012-01-24 01:23:06 -0500

Vihari gravatar image

updated 2012-01-24 03:17:29 -0500

Lorenz gravatar image

No! I wasn't talking about simulation. Let me rephrase my question if we see the launch file of pointcloud_to_laserscan

<launch>
  <!-- kinect and frame ids -->
  <include file="$(find openni_camera)/launch/openni_node.launch"/>

  <!-- openni_manager -->
  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_camera">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_camera">
    <param name="output_frame_id" value="/openni_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>
</launch>`

which is taking input from kinect, now that I dont have kinect I want to migrate the point clouds that might have approached from kinect to those that are already there on my system. This might be a trivial problem, but I am a complete newbie so I seek help. Vihari

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So you have saved point clouds on your computer? In what format are they saved?
DimitriProsser gravatar image DimitriProsser  ( 2012-01-24 02:15:32 -0500 )edit
I have them in the bag file, i downloaded it from http://cvpr.in.tum.de/data/datasets/rgbd-dataset/download#freiburg1_xyz dataset
Vihari gravatar image Vihari  ( 2012-01-24 03:09:26 -0500 )edit
Then you should just have to launch the launchfile and then play back the bagfile
DimitriProsser gravatar image DimitriProsser  ( 2012-01-24 03:55:17 -0500 )edit
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answered 2012-01-24 00:46:32 -0500

DimitriProsser gravatar image

If you're just looking to attempt a simulation of a robot with a Kinect, you can look here. That would give you a chance to try it without having an actual Kinect preset.

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Asked: 2012-01-23 21:21:15 -0500

Seen: 289 times

Last updated: Jan 24 '12