ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

RGBDSlam Point Cloud Scaling

asked 2013-02-20 08:27:31 -0500

nikkihohn gravatar image

updated 2014-01-28 17:15:20 -0500

ngrennan gravatar image

Hi, I am trying to display the data collected by RGBDSlam as a .ply file on a separate program (web GUI by XB PointStream). The problem is that when this file is displayed on the GUI, it comes out very tiny and all the points look very close together. Is there a way to scale up the size of the point cloud data so that it displays correctly on XB PointStream?

edit retag flag offensive close merge delete


Do you have a link to look at the cloud? Maybe you can use meshlab to modify the .ply file. (BTW: Correct tagging is crucial on this site)

Felix Endres gravatar image Felix Endres  ( 2013-02-20 22:30:10 -0500 )edit

I want to process the point cloud automatically, because I will be processing a lot of clouds. Does meshlab have a way to run a script or something to automatically resize a point cloud?

nikkihohn gravatar image nikkihohn  ( 2013-02-23 06:47:29 -0500 )edit

I don't know whether meshlab can do that.

Felix Endres gravatar image Felix Endres  ( 2013-02-23 23:53:51 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2013-02-23 23:56:21 -0500

If scaling is all you need, since the ply format is very simple, you could just write a script (e.g. in python) to rescale your cloud, by parsing in the ply and multiplying the coordinates by a factor.

Alternatively you could alter RGBDSLAM to do so. The ply file is written from src/graph_mgr_io.cpp line 430. You could just add the scalling factor in lines 460-462.

edit flag offensive delete link more


Felix, thanks for your help. I was able to figure it out and the map looks great now. One thing though, the file's path was src/graph_manager.cpp (lines 1361-1363).

nikkihohn gravatar image nikkihohn  ( 2013-02-24 11:53:41 -0500 )edit

You're welcome. You may be using an older version, I've split the file recently.

Felix Endres gravatar image Felix Endres  ( 2013-02-25 22:39:34 -0500 )edit

Question Tools


Asked: 2013-02-20 08:27:31 -0500

Seen: 365 times

Last updated: Feb 23 '13