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The ROS In-hand scanner provides a 3D Scanning application based on the PCL In-hand scanner for small objects by Martin Sälzle and the PCL developers.
Original PCL Documentation can be found here:
The following video shows a scanning process using Intel RealSense Camera. https://drive.google.com/file/d/0B-EoR_OK9GCgcEw3V0l1ZnNPU2s/view
This package needs PCL 1.8.0 to be installed. For further information, see the following link: http://pointclouds.org/documentation/tutorials/compiling_pcl_posix.php#experimental
#Prepare Workspace source /opt/ros/indigo/setup.bash mkdir -p ~/rihs_ws/src cd ~/rihs_ws/src catkin_init_workspace cd ~/rihs_ws/ catkin_make source devel/setup.bash #Get ROS In-hand scanner cd ~/rihs_ws/src git clone http://github.com/RodBelaFarin/ros_in_hand_scanner cd ~/rihs_ws/ #Install rosdep update rosdep install ros_in_hand_scanner catkin_make
Subscriber Topic: camera/depth_registered/points Message Type: sensor_msgs/PointCloud2 Description: organized point cloud
Some quick infos on how to use.
Start the ROS In-hand scanner:
roscore rosrun ros_in_hand_scanner ros_in_hand_scanner_node
Due to performance issues, a realtime registration is very slow with down to < 0.1 fps. A workaround is to record a rosbag file during the scanprocess itself. You can use the preview window to get a view of your actual scan orientation. Play the rosbag file afterwards with a low rate ~0.1 and start registration now. Follow the hints in the PCL documentation for your scan process.