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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.
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.
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.
Asked: 2013-01-09 12:57:44 -0600
Seen: 621 times
Last updated: Jan 14 '13
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