ros_in_hand_scanner repository

Repository Summary

Checkout URI https://github.com/RodBelaFarin/ros_in_hand_scanner.git
VCS Type git
VCS Version master
Last Updated 2017-06-25
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
ros_in_hand_scanner 0.0.1

README

ros_in_hand_scanner

Description

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:

http://pointclouds.org/documentation/tutorials/in_hand_scanner.php

The following video shows a scanning process using Intel RealSense Camera. https://drive.google.com/file/d/0B-EoR_OK9GCgcEw3V0l1ZnNPU2s/view

Dependencies

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

Installation

#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

Topics

Subscriber Topic: camera/depth_registered/points
Message Type: sensor_msgs/PointCloud2
Description: organized point cloud

Usage

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.

CONTRIBUTING

No CONTRIBUTING.md found.