Get current location from existing pointcloud or data.

• MartyG

  • February 12, 2020 13:57

  if you want to get the location of the robot then you could calculate the origin point of the point cloud (assuming it is generated by a camera mounted on the robot), as the camera's imagers will be the origin point of the point cloud.

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• Chutchinson

  • February 12, 2020 14:20

  Thanks MartyG.   I have an existing pointcloud generated from November 2019.   I have referenced the pointcloud to the longitude and latitude of the earth (and to XYZ positions).   I want to send the robot back into this area and use the existing pointcloud or reference points to determine the robots positions.   This should reduce drift from the tracking camera.   I will know (ballpark) the initial starting point of the robot.   Is there a compare method that will give the current scene position to a reference scene(or cloud)

   

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• MartyG

  • February 12, 2020 14:33

  There is an open source tool that can be used for comparing point clouds that is called CloudCompare.

  https://www.danielgm.net/cc/ 

  https://www.cloudcompare.org/doc/wiki/index.php?title=How_to_compare_two_3D_entities 

   

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• Chutchinson

  • February 12, 2020 17:50

  Possibly OPEN3D - 

  http://www.open3d.org/docs/release/getting_started.html

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• MartyG

  • February 12, 2020 17:57

  Point Cloud Library (PCL) can also do comparisons apparently, so that may be a better choice if you want to integrate your project with the RealSense SDK as the SDK has a support wrapper for PCL.  The RealSense SDK does not have a support wrapper for Open3D yet.

  Google 'compare point cloud pcl' for more details.  Here's an example:

  https://stackoverflow.com/questions/55913968/metric-to-compare-two-point-clouds-similarity 

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• Chutchinson

  • February 12, 2020 18:19

  Thanks MartyG,

  What is the range of the RealSense cameras?  Can I get to 20 meters?

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• MartyG

  • February 12, 2020 18:36
  • Edited

  The 400 Series cameras have a default sensing range of 10 meters.  In theory, maximum distance (MaxZ) increases if the Disparity Shift value is decreased instead of increased.  As error increases linearly with distance though, the measured results would probably be too inaccurate to make it worth extending sensing range that far.

  I believe the forthcoming new L515 lidar camera does not have this decrease of accuracy over distance, and it also never has to be recalibrated during its lifetime.  It is suited to use indoors or under controlled lighting conditions though and has a maximum range of 9 meters.

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