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laserscan to 3D point cloud

asked 2014-11-28 03:38:51 -0500

Robot gravatar image

updated 2014-11-28 09:56:17 -0500

bvbdort gravatar image

I am working with the Hokuyo laser scanner. The scanner is fixed in the robot. There is no option for application of tilt to the scanner. Now I would like to generate the 3D point cloud from the scan data. In the laser assembler node I found that it must receive set of scan data due to the tilt of the sensor. I donot need so much detailed map. All I want to extrude the line in Rviz along z axis ,I get from the laser scan data (single set). Is it possible?? If yes how?? I really stuck in here. thanks in advance.....

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I think you're gonna have to do that yourself.

dornhege gravatar image dornhege  ( 2014-11-28 04:41:56 -0500 )edit

I found one package for orthogonal projection. but I need continous extrusion of the line upto the gorund.

Robot gravatar image Robot  ( 2014-11-28 04:45:16 -0500 )edit

@Robot did you implement that function? I have the same need. So it would be helpful to know what is the best way to do that. Regards

Andromeda gravatar image Andromeda  ( 2015-05-28 01:10:25 -0500 )edit

http://answers.ros.org/question/11232... The answers here provide a pretty decent example, just edit the variables to fit your needs. The high-fidelity function requires a tf broadcaster whilst the low-fidelity doesn't. Refer to link to laser_geometry.

bomdaworld gravatar image bomdaworld  ( 2016-09-15 23:14:01 -0500 )edit

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answered 2014-11-30 13:19:50 -0500

paulbovbel gravatar image

updated 2014-12-04 05:16:20 -0500

That's a bit of an esoteric need, so you'll probably have to write your own node to make the conversion.

The simplest approach would be to use the tools in laser_geometry to initially convert the laserscan into a pointcloud. Then iterate through each point in the cloud and 'extrude' it by adding additional points with different z values, with whatever your required density is.

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@Robot if this answer is good for you, please mark it as the answer, thanks!

William gravatar image William  ( 2014-12-02 07:46:50 -0500 )edit

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Asked: 2014-11-28 03:38:51 -0500

Seen: 1,520 times

Last updated: Dec 04 '14