PCL ICP & Open3D Mesh Tutorial

About this package

This package was tested in the environment below.

• Ubuntu 18.04
• ROS Melodic
• Orbbec AstraPro Camera

ROS Package Installation

mkdir -p icp_ws/src
cd icp_ws/src
git clone https://github.com/woawo1213/ros_icp_tutorial.git
cd ..
catkin_make
source devel/setup.bash

Download bag file & put /bag diretory

• https://drive.google.com/file/d/1QtkBWLSirPc6RFXU5T-VS47cFbKiBzBU/view?usp=sharing

ICP 대상

Start ICP

roslaunch icp_tutorial gicp_bag.launch

• 초당 1개의 샘플을 추출하여 15초간 icp 진행
• 아래 그림은 icp 결과

Start Open3D

• script/3dmesh.ipynb 실행
• 아래 그림은 3d mesh 결과