This repository obtains a point cloud (pcl2) message from ROS, and generates a mesh surrounding those points for use in collision detection.
####This repository contains the following methods for mesh generation (located in different branches):
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Scale Space Mesh Reconstruction (CGAL Algorithm Documentation Link)
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Most accurate for generating real-time meshes
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Generates holes
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Best suited for lidar
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3D Delaunay Triangulation (CGAL Algorithm Documentation Link)
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Generates 3-D Tetrahedralization of given points.
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Triangulates over holes
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Poisson Surface Reconstruction(CGAL Algorithm Documentation Link)
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2D Delaunay Triangulation (CGAL Algorithm Documentation Link)
#Installation
First, you must have the following dependencies installed: link
Then, you must install the CGAL tarball, link.
Extract the tarball, and run
cmake .
Then run
make install
Move the CGAL folder from inside the include folder into your /usr/local/include folder. Move the CGAL folder from inside the src folder into your /usr/local/lib folder.
To use the Scale Space Reconstruction:
cd /usr/local/include/CGAL
If you do not have the following file "Scale_space_surface_reconstruction_3_impl.h":
cd Scale_space_reconstruction_3
cp Scale_space_surface_reconstruction_3_impl.h ..
Now you must install ROS, instructions can be found here.
#Usage
cd into the catkin_ws directory
catkin_make
If all compiles successfully, cd into the launch folder, and run the following command:
roslaunch mesh_map.launch
#Contact
For any questions / debugging hints, please e-mail me at [email protected]
-Sadat Shaik