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How to take a 3D point cloud of rotating object with a fixed kinect position using RGBDSLAM?

asked 2013-03-26 12:58:32 -0500

Rohitdewani gravatar image

updated 2014-01-28 17:15:54 -0500

ngrennan gravatar image


I have installed and used RGBDSLAM to take a 3D point cloud of my room. I am using Ros groovy on Ubuntu 12.04 . I have an ASUS Xtion Pro live.

Now my question:-

In my project I will not be able to move my Asus .My Asus can direclty look at a pot. But I have to take a 3D point cloud of a rotating pot with a plant in it. I can rotate the pot a full 360 degrees. How do I achieve this using RGBDSLAM?


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answered 2013-03-27 10:59:57 -0500

Most easily by putting it in front of a featureless background, e.g. a black bedsheet. Make sure that the turntable is the same color, otherwise you have prominent feature at the edge between sheet and turntable.

Or you can program a node that filters the images from the xtion pro, e.g. by color or depth, to remove the background. Then subscribe rgbdslam to the filtered image.

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That is a great idea.I cannot use the black cloth but May be I was thinking if I could make the changes in the RGBDSLAM source code it self to filter the images. Can you please tell me which file I should look into? Or may be if your could just guide me a little to write this node?

Rohitdewani gravatar image Rohitdewani  ( 2013-03-27 14:48:10 -0500 )edit

Depends on how you want to filter the image (I don't know how exactly you would do that, depends on your scene). I'd look into the node (.cpp/.h) class. Maybe write a new method to filter the feature_... attributes which contain the info about features.

Felix Endres gravatar image Felix Endres  ( 2013-03-29 01:07:25 -0500 )edit

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Asked: 2013-03-26 12:58:32 -0500

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Last updated: Mar 27 '13