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2014-01-28 17:26:02 -0500 marked best answer rgbdslam map storing

I get the output from Kinect using rgbdslam package but I don't know how to store the obtained map or register the points cloud. I want to store the obtained map..not continuous Kinect output but sets of data...how can I do it??

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2012-06-26 09:20:44 -0500 commented answer Accessing 3D map data saved in bt file/formats to save octomap

thanx man...that seems helpful to proceed with.

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2012-06-25 09:31:54 -0500 asked a question Accessing 3D map data saved in bt file/formats to save octomap

I have been able to build a 3D map using octomap and have saved the same as a .bt file. I have to work on a localisation algorithm which requires the coordinates of free and occupied cells(especially the boundary cells of any occupied region) of the saved map.

Is it possible to extract the information like coordinates and no. of free and occupied cells from a bt file? If yes, how? If not, then what should be the accessible file format and how should I save my map in that format?

I am using ROS electric in Ubuntu 11.10. Please help.

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2012-06-15 06:40:39 -0500 commented answer octomap in rviz and occupancy grids in 3D maps

Thanks a lot. I was able to visualize the map by loading .bt file and making some changes in the launch-file code for realtime mapping. Thanks for the suggestion on latter problem. I think castRay() could be useful.

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2012-06-13 08:29:35 -0500 asked a question octomap in rviz and occupancy grids in 3D maps

I have saved a .bt file which I can properly visualize with octovis. However, for some reason I need to visualize octomap image, or to make it clear, 3D maps with voxels on rviz. I can't simply view it by launching octomap_mapping and adding occupied_cells_vis_array. Does it require some kind of editing in the launch file?

I want to know (1)how can I visualize a 3D map generated by octomap directly, i.e., while running Kinect(which I am using as sensing device), with rviz? and (2) how can I visualize an already saved .bt file with rviz?

Moreover, the bottom line of all the effort is to run a localiation algorithm for which I require information like free and occupied cells in the map. If you have any suggestion regarding how I can get occupancy grids for 3D maps, kindly provide that as well....thank you in advance

2012-06-08 11:04:34 -0500 answered a question how to get rgbdslam map data?

Here's what I did and the error that I get...please help

shubh@ubuntu:~$ mkdir ~/bag

shubh@ubuntu:~$ cd bag

shubh@ubuntu:~/bag$ rosbag record -O rec /camera/depth/image /camera/depth/camera-info

Traceback (most recent call last):

File "/opt/ros/electric/ros/bin/rosbag", line 35, in <module>

rosbag.rosbagmain()

File "/home/shubh/ros/rosbag/src/rosbag/rosbag_main.py", line 807, in rosbagmain

cmds[cmd](argv[2:])

File "/home/shubh/ros/rosbag/src/rosbag/rosbag_main.py", line 115, in record_cmd

os.execv(recordpath, cmd)

OSError: [Errno 2] No such file or directory...

2012-06-08 09:48:24 -0500 edited question how to get rgbdslam map data?

I am using kinect for SLAM. In this process I can get the map generated using rgbdslam package but I don't know how to obtain the rgb and depth data generated by the sensor. Where exactly is the map or better say the rgbd data stored and how can I obtain it?

I am new to this thing so I cannot provide much detail. If somebody could provide the answer it would be very helpful....if you need some detail from my side please ask for it... I am using ROS electric on Ubuntu 11.10..

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