ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

Generating 3D Map from PointCloud Data [closed]

asked 2019-06-15 07:48:51 -0500

AM97 gravatar image

updated 2021-11-14 09:49:24 -0500

lucasw gravatar image

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.

edit retag flag offensive reopen merge delete

Closed for the following reason the question is answered, right answer was accepted by AM97
close date 2019-06-20 14:37:32.436100


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?

JustinBlack02 gravatar image JustinBlack02  ( 2019-06-15 13:04:45 -0500 )edit

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

AM97 gravatar image AM97  ( 2019-06-15 13:15:55 -0500 )edit

2 Answers

Sort by » oldest newest most voted

answered 2019-06-15 13:27:58 -0500

JustinBlack02 gravatar image

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

  1. Import your point cloud into Meshlab or CloudCompare and generate a mesh from it. Here is an example tutorial.
  2. Export the model as a .dae (collada object).
  3. Import the model into gazebo following this tutorial
  4. 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.

edit flag offensive delete link more


Thanks for the advice. Will look into it.

AM97 gravatar image AM97  ( 2019-06-15 13:30:55 -0500 )edit

answered 2019-06-17 19:54:15 -0500

cassini.huygens gravatar image
edit flag offensive delete link more


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

AM97 gravatar image AM97  ( 2019-06-18 01:10:25 -0500 )edit

Question Tools



Asked: 2019-06-15 07:48:51 -0500

Seen: 2,204 times

Last updated: Jun 15 '19