Tag Archives: pointcloud

Simulating A Virtual Camera With OpenCV and Reverse Projection From 2D to 3D

Projection of Points from 3D in the camera plane:

Computed rays from the camera origin in the direction of points:


points are stored in CSV file like this:

The content of “reverse_projection.hpp”

The content of “transformation.hpp


A GUI ROS-package for cropping pcl pointcloud with dynamic reconfigure

This ROS package enables you to crop the scene from Kinect (input topic type: PCL pointcloud). You can even enable fitting a plane to remove the ground from the scene and by adjusting correct parameter you can get the desired object from the scene. code available on my Github.

White dots are original scene and rgb dots are from the cropped cloud. Values for the volume of cuboid are coming from sliders.

How to create octomap tree from mesh

I was looking for a way to create an octomap tree from arbitrary mesh file. Well at first I tried to convert my data into PCL pointcloud and then convert them into an octomap tree. But the problem was, for instance when you a cuboid mesh, you only have 8 vertex, which gives you 8 point and the walls between them won’t appear in the final octomap tree. So I found the following solution:

1) First, download the latest version of binvox from  http://www.patrickmin.com/binvox/ (more about binvox, source code available here or you can try this)
2) Convert you mesh file into binvox file i.e

3) grab the binvox2bt.cpp from octomap at GitHub and compile it, then

4) visualize the bt file install octovis:


mesh file (Dude.ply).

octomap bt file (Dude.binvox.bt).

The sample file can be downloaded at Dude.ply, Dude.binvox.bt.