Generating 3D Map from PointCloud Data

I have generated PointClouda Data from a rosbag file using NDT. Now I want to generate a 3D map from this point cloud data and save that generated map also wanted to generate Vector mapping. Can anyone suggest to me how I can do this? I have tried SLAM, LOAM approach to generate 3D map but I am not satisfied with the mapping and i also wanted to try cartographer, but I wanted to know how I can save that map so that I can use that saved map in the Gazebo simulation.

Asked by AM97 on 2019-06-15 07:48:51 UTC

Comments

Define what you mean by "map". For a lot of people, having a point cloud representation of the environment would be a map. Can you explain what you are unsatisfied with with your current data?

Asked by JustinBlack02 on 2019-06-15 13:04:45 UTC

I think odometry was not trustful. I also have PCD generated file and i would like to know how to use that PCD data in gazebo simulation

Asked by AM97 on 2019-06-15 13:15:55 UTC

Answers

This will be a lot of work so make sure it is worth it.

Import your point cloud into Meshlab or CloudCompare and generate a mesh from it. Here is an example tutorial.
Export the model as a .dae (collada object).
Import the model into gazebo following this tutorial
Make sure the collision model is the same as the visual model.

Good luck and I hope you have a good computer. To be entirely honest, if you world is simply the inside of a building then I would suggest you model it by hand following this tutorial.

Asked by JustinBlack02 on 2019-06-15 13:27:58 UTC

Comments

Thanks for the advice. Will look into it.

Asked by AM97 on 2019-06-15 13:30:55 UTC

Is this what you want? https://www.youtube.com/watch?v=WqNy8rkePe8

Asked by cassini.huygens on 2019-06-17 19:54:15 UTC

Comments

Yes but I did follow the way described by Justin, will go through this method and check. Thanks

Asked by AM97 on 2019-06-18 01:10:25 UTC