Use with PCL?

[vigneshwarvenkat]

I am currently implementing an ORB-SLAM3 algorithm. I have converted the PointCloud2 message type to a PCL message type. Can this library help to convert the PCL datatype to an OccupancyGrid or any other 2D map using the output from a PointCloud Library?

[lukovicaleksa]

Hi, Unfortunately I am not familiar with pointcloud library, is it using a 3-D lidar scan? Best regards, Aleksa

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On Fri, Jan 20, 2023 at 9:12 AM Vigneshwar Venkatasbramanian < ***@***.***> wrote: I am currently using an ORB-SLAM3, can this grid mapping be optimized by taking the output from a pointcloud library? — Reply to this email directly, view it on GitHub <#1>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ARMW6EJJIEG7XEDLQTFFNSTWTJCFDANCNFSM6AAAAAAUBHVZAY> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[vigneshwarvenkat]

Hi, Unfortunately I am not familiar with pointcloud library, is it using a 3-D lidar scan? Best regards, Aleksa
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On Fri, Jan 20, 2023 at 9:12 AM Vigneshwar Venkatasbramanian < @.> wrote: I am currently using an ORB-SLAM3, can this grid mapping be optimized by taking the output from a pointcloud library? — Reply to this email directly, view it on GitHub <#1>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ARMW6EJJIEG7XEDLQTFFNSTWTJCFDANCNFSM6AAAAAAUBHVZAY . You are receiving this because you are subscribed to this thread.Message ID: @.>

For us, we used a visual slam system, so it map outs the points of the surrounding and we use pointcloud library to converts it into xyz coordinates, we were wondering if xyz coordinates are enough to be used for grid mapping

[lukovicaleksa]

Yes, you can create a 3-D grid map from xyz coordinates. But this code itself is just working on 2-D coordinates. You would need to adapt it for 3-D but it is a good starting point. Good luck, Aleksa On Fri, Jan 20, 2023 at 9:57 AM Vigneshwar Venkatasbramanian < ***@***.***> wrote:

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Hi, Unfortunately I am not familiar with pointcloud library, is it using a 3-D lidar scan? Best regards, Aleksa … <#m_-5491648689507651141_> On Fri, Jan 20, 2023 at 9:12 AM Vigneshwar Venkatasbramanian < *@*.*> wrote: I am currently using an ORB-SLAM3, can this grid mapping be optimized by taking the output from a pointcloud library? — Reply to this email directly, view it on GitHub <#1 <#1>>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ARMW6EJJIEG7XEDLQTFFNSTWTJCFDANCNFSM6AAAAAAUBHVZAY <https://github.com/notifications/unsubscribe-auth/ARMW6EJJIEG7XEDLQTFFNSTWTJCFDANCNFSM6AAAAAAUBHVZAY> . You are receiving this because you are subscribed to this thread.Message ID: @.*> For us, we used a visual slam system, so it map outs the points of the surrounding and we use pointcloud library to converts it into xyz coordinates, we were wondering if xyz coordinates are enough to be used for grid mapping — Reply to this email directly, view it on GitHub <#1 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ARMW6EOBMSIB6P4ZFQA2WM3WTJHN5ANCNFSM6AAAAAAUBHVZAY> . You are receiving this because you commented.Message ID: ***@***.***>