Generating 3D Map from PointCloud Data [closed]

asked 2019-06-15 07:48:51 -0600

AM97

139 ●22 ●28 ●31

updated 2021-11-14 09:49:24 -0600

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

I have generated PointClouda Data from a rosbag file using NDT. Now I want to generate a 3D map from this point cloud data and save that generated map also wanted to generate Vector mapping. Can anyone suggest to me how I can do this? I have tried SLAM, LOAM approach to generate 3D map but I am not satisfied with the mapping and i also wanted to try cartographer, but I wanted to know how I can save that map so that I can use that saved map in the Gazebo simulation.

edit retag flag offensive reopen merge delete

Closed for the following reason the question is answered, right answer was accepted by AM97
close date 2019-06-20 14:37:32.436100

Comments

Define what you mean by "map". For a lot of people, having a point cloud representation of the environment would be a map. Can you explain what you are unsatisfied with with your current data?

JustinBlack02 ( 2019-06-15 13:04:45 -0600 )edit

I think odometry was not trustful. I also have PCD generated file and i would like to know how to use that PCD data in gazebo simulation

AM97 ( 2019-06-15 13:15:55 -0600 )edit

add a comment

1

answered 2019-06-15 13:27:58 -0600

JustinBlack02
131 ●2 ●14 ●11

This will be a lot of work so make sure it is worth it.

Import your point cloud into Meshlab or CloudCompare and generate a mesh from it. Here is an example tutorial.
Export the model as a .dae (collada object).
Import the model into gazebo following this tutorial
Make sure the collision model is the same as the visual model.

Good luck and I hope you have a good computer. To be entirely honest, if you world is simply the inside of a building then I would suggest you model it by hand following this tutorial.