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

asked 2018-05-15 01:23:16 -0500

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

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answered 2018-05-15 04:59:27 -0500

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.

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Asked: 2018-05-15 01:23:16 -0500

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Last updated: May 15 '18