Building point cloud of a complete laser sweep

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Building point cloud of a complete laser sweep

Markus Eich
Dear all,

I just started with the PCL. I have a tilting Hokuyo, which provides the
x,y,z coordinates via pointcloud_msg, but only a single horizontal scan.

How can I now generate the pointcloud structure containing a whole
vertical sweep? In the tutorial I found a way to concatinate point
clouds. Is this the way to do it (i.e. adding line by line to the
current point_cloud), or is there another way of doing it?


Cheers,


Markus


--
Dipl. Inf. Markus Eich
Researcher

DFKI Bremen
Robotics Innovation Center
Mary-Somerville-Str. 9
28359 Bremen, Germany

Phone: +49 (0)421 17845-4105
Fax:   +49 (0)421 17845-4150
E-Mail: [hidden email]

Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.:    DE 148646973
Steuernummer:  19/673/0060/3
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Re: Building point cloud of a complete laser sweep

Radu B. Rusu
Administrator
Hi Markus,

Besides the XYZ data that you obtain from your 2D Hokuyo, you need the tilt angles from your unit. In ROS we already
have some mechanisms for doing that efficiently (please see
http://ros-users.122217.n3.nabble.com/Setting-up-tilt-unit-for-the-point-cloud-td1226825.html#a1234959).

The concatenate point clouds tutorial deals with the next step, which is: given that you already have a few vertical
sweeps of a static scene, how do you aggregate all of them together.

Cheers,
Radu.


On 11/02/2010 09:27 AM, Markus Eich wrote:

> Dear all,
>
> I just started with the PCL. I have a tilting Hokuyo, which provides the
> x,y,z coordinates via pointcloud_msg, but only a single horizontal scan.
>
> How can I now generate the pointcloud structure containing a whole
> vertical sweep? In the tutorial I found a way to concatinate point
> clouds. Is this the way to do it (i.e. adding line by line to the
> current point_cloud), or is there another way of doing it?
>
>
> Cheers,
>
>
> Markus
>
>
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Re: Building point cloud of a complete laser sweep

Markus Eich
Thank you Radu  for the quick answer.

I already have the points transformed using the angle of the servo+TF.

So all I have to do is

Pointcloud_new=Pointcloud_old+Pointcloud_from_last_scan

until the sweep is finished? That is easy ;-)

Cheers,

Markus






On 02.11.2010 09:46, Radu Bogdan Rusu wrote:

> Hi Markus,
>
> Besides the XYZ data that you obtain from your 2D Hokuyo, you need the tilt angles from your unit. In ROS we already
> have some mechanisms for doing that efficiently (please see
> http://ros-users.122217.n3.nabble.com/Setting-up-tilt-unit-for-the-point-cloud-td1226825.html#a1234959).
>
> The concatenate point clouds tutorial deals with the next step, which is: given that you already have a few vertical
> sweeps of a static scene, how do you aggregate all of them together.
>
> Cheers,
> Radu.
>
>
> On 11/02/2010 09:27 AM, Markus Eich wrote:
>    
>> Dear all,
>>
>> I just started with the PCL. I have a tilting Hokuyo, which provides the
>> x,y,z coordinates via pointcloud_msg, but only a single horizontal scan.
>>
>> How can I now generate the pointcloud structure containing a whole
>> vertical sweep? In the tutorial I found a way to concatinate point
>> clouds. Is this the way to do it (i.e. adding line by line to the
>> current point_cloud), or is there another way of doing it?
>>
>>
>> Cheers,
>>
>>
>> Markus
>>
>>
>>      
> _______________________________________________
> [hidden email] / http://pcl.ros.org
> https://code.ros.org/mailman/listinfo/pcl-users
>    


--
Dipl. Inf. Markus Eich
Researcher

DFKI Bremen
Robotics Innovation Center
Mary-Somerville-Str. 9
28359 Bremen, Germany

Phone: +49 (0)421 17845-4105
Fax:   +49 (0)421 17845-4150
E-Mail: [hidden email]

Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.:    DE 148646973
Steuernummer:  19/673/0060/3
-----------------------------------------------------------------------

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Re: Building point cloud of a complete laser sweep

Radu B. Rusu
Administrator
Yeah, if they're already transformed, then += works :)

Cheers,
Radu.


On 11/02/2010 09:52 AM, Markus Eich wrote:

> Thank you Radu  for the quick answer.
>
> I already have the points transformed using the angle of the servo+TF.
>
> So all I have to do is
>
> Pointcloud_new=Pointcloud_old+Pointcloud_from_last_scan
>
> until the sweep is finished? That is easy ;-)
>
> Cheers,
>
> Markus
>
>
>
>
>
>
> On 02.11.2010 09:46, Radu Bogdan Rusu wrote:
>> Hi Markus,
>>
>> Besides the XYZ data that you obtain from your 2D Hokuyo, you need the tilt angles from your unit. In ROS we already
>> have some mechanisms for doing that efficiently (please see
>> http://ros-users.122217.n3.nabble.com/Setting-up-tilt-unit-for-the-point-cloud-td1226825.html#a1234959).
>>
>> The concatenate point clouds tutorial deals with the next step, which is: given that you already have a few vertical
>> sweeps of a static scene, how do you aggregate all of them together.
>>
>> Cheers,
>> Radu.
>>
>>
>> On 11/02/2010 09:27 AM, Markus Eich wrote:
>>
>>> Dear all,
>>>
>>> I just started with the PCL. I have a tilting Hokuyo, which provides the
>>> x,y,z coordinates via pointcloud_msg, but only a single horizontal scan.
>>>
>>> How can I now generate the pointcloud structure containing a whole
>>> vertical sweep? In the tutorial I found a way to concatinate point
>>> clouds. Is this the way to do it (i.e. adding line by line to the
>>> current point_cloud), or is there another way of doing it?
>>>
>>>
>>> Cheers,
>>>
>>>
>>> Markus
>>>
>>>
>>>
>> _______________________________________________
>> [hidden email] / http://pcl.ros.org
>> https://code.ros.org/mailman/listinfo/pcl-users
>>
>
>
_______________________________________________
[hidden email] / http://pcl.ros.org
https://code.ros.org/mailman/listinfo/pcl-users