Point cloud stitching using ROS

asked 2018-04-04 21:05:44 -0600

malharjajoo
121 ●23 ●31 ●37

updated 2018-04-05 10:09:01 -0600

Hi,

I am utilizing a pair of manually calibrated stereo cameras (so, it's not a standard kinect) for obtaining pointclouds.

Assuming I can obtain the (left) camera's post using an April Tag , I would like to know if there is a way to stitch together point clouds in ROS, as long as I know the tf transform of the sensor? (possibly using just command line or launch files ?) I have seen a few packages (not ROS packages) like this.

I have also seen a few posts on ROS forum (like this but there are no accepted answers)

My use-case: I would like to build an Octomap (from a pair of manually calibrated stereo cameras) from this and then use it for drone motion planning. Can someone provide any suggestions on where to start ?

Thanks a lot.

answered 2018-04-05 01:54:38 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

I believe this is what stereo_image_proc (and friends) was made for.

It may not be the most efficient way to do it, but it could be a start.

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Hi, thanks for your answer ... I just want to confirm my understanding, but if I want to map an entire room in 3D, can I just move my stereo camera around (and then somehow register the pointclouds into a single pointcloud) ? I assume this will require me to know the 6D pose of the stereo camera ?

malharjajoo ( 2018-04-05 08:32:36 -0600 )edit

I would also like to mention that efficiency is not my concern, since I only want to map the room once.

malharjajoo ( 2018-04-05 08:45:09 -0600 )edit

Afaik, "registration" of a pointcloud is typically matching RGB values to individual points. I don't believe stereo_image_proc does that, but I haven't checked.

gvdhoorn ( 2018-04-05 08:50:47 -0600 )edit

Hi, I guess I am a bit unclear on what "registration" means then. I am looking to "stitch" together a sequence of pointclouds (as shown - in this matlab example

malharjajoo ( 2018-04-05 09:07:51 -0600 )edit

It could just be me misremembering or misunderstanding. Your question sounds more like a mapping one than a simple case of stereo matching and point cloud conversion.

Perhaps rtabmap_ros would be better here.

gvdhoorn ( 2018-04-05 09:09:49 -0600 )edit

Hi, thanks, Ill look into it. Just updated the question title as well.

malharjajoo ( 2018-04-05 10:09:22 -0600 )edit

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