Ask Your Question
0

What must be the scale of point cloud data to be published in costmap ?

asked 2018-05-15 01:23:16 -0600

Sooryakiran gravatar image

Hello, I am new to ROS. I collected pointcloud data from an image after perspective transformation. Now I want it to be published in a cost map. I am confused with the dimensions of the pcl data. Should it be converted to meters at pointcloud stage or is there any other way. Also please let me know what is usually done to convert data from images to real world 'length'.

Thanks in advance

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2018-05-15 04:59:27 -0600

ROS uses SI units for all its messages so pointclouds should be described in meters at all times.

To answer your question about converting from image space (pixels) to world space (m) I think you'll want to know about Camera calibration. This is the process of measuring a camera lens so that you know exactly what angle a pixel represents.

Converting calibrated images to 3D information is a very large and complex area. I recommend you read up on Stereopsis and structure from motion to get a general understanding.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2018-05-15 01:23:16 -0600

Seen: 39 times

Last updated: May 15 '18