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how to get 3D pointcloud from 2D Laserscan without robot simulation

asked 2019-09-17 06:27:42 -0500

Arpit138 gravatar image

All I have is a 2D Laser Scanner and a PC. I am able to get the 2D live data of the scanner in RVIZ. I want to make 3D representation by moving scanner. I have used laser_assembler library to make PointCloud of LaserScans. Now, i am getting the PointCloud in a single plane. I have searched and found that we need to transform scans before assembling. I am not understanding, how to do this. Can anybody please help.

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answered 2019-09-17 08:56:22 -0500

Delb gravatar image

updated 2019-09-17 08:56:50 -0500

by moving scanner

Do you mean by hand ?

When you say "transform scans" it means that you have to register how your laser has moved with relation to a global frame (usually map) to correctly create your 3D map. So if you are moving your laser by hand you will need to use a localization node to create the transform between a map frame and your laser frame : see #q209617.

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Hello. Thanks for your reply. yes. I am moving scanner by hand. I have done the transformation by incrementing laser_frame's z-axis +0.02 per second. Now laser data(2D) keeps moving upwards(i.e in z-direction) All I want is, to have every single scan(2D, X and Y values) in different z-coordinate. Is it possible ?

Arpit138 gravatar image Arpit138  ( 2019-09-17 23:19:48 -0500 )edit

Finally it worked. Turned out to be the issue of providing wrong "fixed frame value" in laser assembler.

Arpit138 gravatar image Arpit138  ( 2019-09-18 02:07:44 -0500 )edit

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Asked: 2019-09-17 06:27:42 -0500

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Last updated: Sep 17 '19