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how to localize kinect in pre_saved pcd map?

asked 2013-02-27 13:04:12 -0600

Scott gravatar image

I have been able to successfully install and run ccny_rgbd and save out a pcd map. I can also see the map using pcd_viewer. Can someone tell me the steps to then localize the kinect "within" a saved map? ie. now that I have a map, what are the steps for the kinect to localize within it and once it does, how can I visualize both in rviz? Thanks, -Scott

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Are there plans to enhance the stack to support navigation in a map that ccny_rgbd has captured? Or is there a way to do this via exporting it as an octomap or some other way you could suggest?

Scott gravatar image Scott  ( 2013-02-27 16:58:05 -0600 )edit

The support to export an Octomap is there (it's not exported continuously though, you must call a service). We are working on localization, but other navigation features (path-planning, obstacle avoidance) will be outside the scope of this package

Ivan Dryanovski gravatar image Ivan Dryanovski  ( 2013-02-28 01:17:29 -0600 )edit

Thank you for your comments. I was able to export the map as an octomap and will attempt to use that and localize a kinect within it using humanoid_localization stack. Thanks again. the ccny_rgbd is a fantastic package. Good luck.

Scott gravatar image Scott  ( 2013-02-28 08:51:45 -0600 )edit

No problem, glad you find it useful. If you ever have time, send me a screenshot of your octomap :)

Ivan Dryanovski gravatar image Ivan Dryanovski  ( 2013-02-28 09:01:51 -0600 )edit

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answered 2013-02-27 13:11:13 -0600

the functionality to localize on a pre-existing map does not currently exist in ccny_rgbd, but might exist using other tools

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Asked: 2013-02-27 13:04:12 -0600

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Last updated: Feb 27 '13