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erik-nelson / blam

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Data visualization #15

Open nikitaporje opened 7 years ago

nikitaporje commented 7 years ago

can we view the data in cloud compare ? how to export the data just for visualization?

JohnMMeyer commented 7 years ago

Hello nikitaporje, I have the same question. What I have done so far is write the bag file as a PCD file which is then importable to CloudCompare using pcl_ros (http://wiki.ros.org/pcl_ros) as follows:

_rosrun pcl_ros bag_to_pcd _

Use that command in the directory containing your bag file, it will write the PCD files to an output directory

The problem is that the PCD files are not registered. When one imports them into CloudComapre, they are all in the LiDAR frame of reference when we need them in the world frame. We need to somehow record and import the registered point clouds.

Luoada commented 7 years ago

@JohnMMeyer @nikitaporje @erik-nelson Hello guys, Has anyone tried building this project for real-time SLAM using VLP16? Actually, when I ran this test_online.launch file, I could not see anything within rviz window. Thanks a lot in advance!

nikitaporje commented 7 years ago

@JohnMMeyer Try to collect the PCD file by using rosrun pcl_ros pointcloud_to_pcd input:=/blam/blam_slam/octree_map_updates then you get multiple pcd file with accurate positioning

nikitaporje commented 7 years ago

@Luoada I did not try to run the project with live sensor attached. But i play the bag file with VLP16 data and run the test_online.launch it work fine for me.

Luoada commented 7 years ago

@nikitaporje Hi Nikitaporje, Thanks for your reply. So, if I am not mistaken did you use your own VLP-16 bag file or the same files among author have provided. Many thanks:) Best, Ada

nikitaporje commented 7 years ago

@Luoada I also tried with the velodyne VLP16 raw data in pcap format firstly i convert pcap file in bag file then use it

Luoada commented 7 years ago

@nikitaporje Thanks a lot:) I will try it out soon. if you don't mind could you please text at luoada88@gmail.com or share your email id. Actually, I have few queries and want to get reviewed few results based on VLP16 data. Your valuable feedback is very much appreciated.

Best regards, Ada

JohnMMeyer commented 7 years ago

Hi @nikitaporje, Thanks for getting back to me. So I was using rosrun pcl_ros pointcloud_to_pcd input:=/blam/blamSlam/Octree_map which was giving me a registered point cloud but it did not have a lot of data. Your suggestion really helped as I am now getting 1,800,000 points as opposed to 100,000 when processing the same bagfile. For what it is worth, I took the multiple .pcd files that your command , rosrun pcl_ros pointcloud_to_pcd input:=/blam/blamSlam/Octree_map_updates generated, loaded them inot CloudCompare, then used the merge function on CloudCompare to generate one large .pcd file. So thanks, that was very helpful.

ranxiaoustc commented 7 years ago

@nikitaporje @JohnMMeyer @Luoada @erik-nelson Did you get the real-time 3D map with vlp-16? I mean we do not convert the pcap ifle. Thanks for your reply.

nikitaporje commented 7 years ago

@JohnMMeyer @erik-nelson do you have any real time data available from your sensor with GPS positioning data.Can you please pin me on my email account nporje@gmail.com i have some quires related to that. thank you for help

nikitaporje commented 7 years ago

@ranxiaoustc I haven't tested the real time 3D mapping using VLP-16. I have tested only off-line data.

JohnMMeyer commented 7 years ago

Hello all, Everything I have collected has been underground so I do not have any GPS data, sorry about that.

John

John M Meyer Doctoral Candidate Mining Engineering Professional Master of Mineral Exploration B.Sc. Geology

Department of Mining Engineering Colorado School of Mines 1600 Illinois St. Golden, Colorado. 80401

On Tue, Jun 13, 2017 at 2:07 AM, nikitaporje notifications@github.com wrote:

@JohnMMeyer https://github.com/johnmmeyer @erik-nelson https://github.com/erik-nelson do you have any real time data available from your sensor with GPS positioning data.Can you please pin me on my email account nporje@gmail.com i have some quires related to that. thank you for help

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