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octomap_server globally referenced pointcloud and transform

asked 2013-01-09 12:57:44 -0600

anonymousSnowMan gravatar image

updated 2013-01-13 11:46:29 -0600

Hi,

I am trying to pass globally referenced point clouds and trajectories to octomap_server, but it's not producing the desired results? The point cloud and ray tracing are being inserted from the single origin of the first scan.

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answered 2013-01-13 11:49:37 -0600

anonymousSnowMan gravatar image

Found the issue:

// directly transform to map frame:
pcl::transformPointCloud(pc, pc, sensorToWorld);

I believe this was performing a transform on already transformed trajectories. By commenting this entry out, rebuilding and trying again, the insertion and ray casting are working correctly.

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answered 2013-01-13 22:07:18 -0600

AHornung gravatar image

updated 2013-01-14 01:13:27 -0600

I think the problem lies in your tf frames. octomap_server will transform your point clouds to the global map frame using TF, relying on the frame_id set in your sensor data. If you transformed them yourself but left the frame_id unchanged then it will transform it again. If you change the frame_id in the point cloud accordingly to the global map frame, octomap_server should not transform again.

However, the main problem I see is that octomap_server assumes single sensor readings per cloud, each with its own origin, for its ray casting operation. It will cast a ray from the sensor origin to each end point. If you only have one origin, this will not result in a correct map since information behind intermediate obstacles may be missed, or existing obstacles cleared out.

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Asked: 2013-01-09 12:57:44 -0600

Seen: 247 times

Last updated: Jan 14 '13