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create 3D map with octomap

asked 2013-10-20 15:19:58 -0600

VahidD gravatar image

updated 2014-01-28 17:18:17 -0600

ngrennan gravatar image

Hi all,

I want to create a 3d map from environment with simulated kinect. i know that i should use from octomap, i want to get data of kinect and every where that yellow color is available, set probability for it +1 and other places -1, any one can give me some hints or explain for me what should i do?

Thank you.

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I am not able to understand much of your question, but one thing that seems strange is that you set probabilities to 1 and -1. First, a probability can never be negative and second, an octomap cell can never have probability 1 as far as I know. Try the defaults of 0.85 for occupied and 0.4 for free

timster gravatar imagetimster ( 2013-10-24 02:26:04 -0600 )edit

Yes, you are right, i didn't consider this fact about probability. you know now i got data from simulated kinect and i can find yellow color, but i can't understand how can i use from octomap to create a 3d occupency grid map, in simple word i have technical problem and also i couldn't find any example in internet, i read this link http://octomap.sourceforge.net/doxygen/index.html, but i need a example or some hints to do next part, if you have any experience about it please give me some hints.

VahidD gravatar imageVahidD ( 2013-10-24 04:13:14 -0600 )edit

have you seen that there is an octomap rospackage: http://wiki.ros.org/octomap_server i think you should start with this. if you need to customize the code, this could be helpful: http://www.informatik.uni-freiburg.de/~hornunga/pub/hornung13roscon.pdf

timster gravatar imagetimster ( 2013-10-25 02:21:18 -0600 )edit

Thank you, yes i should customize the code. but i can't find a step by step tutorial about this. by the way now i am starting to reading code. also my ros is hydro but i don't have octomap_server package, also i checked in computer of one of my friends also he didn't have this package.

VahidD gravatar imageVahidD ( 2013-10-25 04:28:56 -0600 )edit

thank you, i installed it.

VahidD gravatar imageVahidD ( 2013-10-25 05:02:02 -0600 )edit

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answered 2013-10-25 04:32:51 -0600

AHornung gravatar image

updated 2013-10-25 04:35:55 -0600

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answered 2015-08-01 13:33:37 -0600

Rookie92 gravatar image

I have your same problem, I am working with a pan and tilt with servos and kinect but i dont know how to get kinect data and convert in map. Please can somebody help me?

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Asked: 2013-10-20 15:19:58 -0600

Seen: 1,650 times

Last updated: Aug 01 '15