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Generating 3D Map from PointCloud Data [closed]

asked 2019-06-15 07:48:51 -0600

AM97 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.

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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 -0600 )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 -0600 )edit

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answered 2019-06-15 13:27:58 -0600

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.

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Thanks for the advice. Will look into it.

AM97 gravatar image AM97  ( 2019-06-15 13:30:55 -0600 )edit

answered 2019-06-17 19:54:15 -0600

cassini.huygens gravatar image
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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 -0600 )edit

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Asked: 2019-06-15 07:48:51 -0600

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Last updated: Jun 15 '19