Asus Xtion Pro Live – 3D RGB-D and 2D laserscan simulation

A short post to show the potentiality of the Asus Xtion Pro Live used in the ROS framework.

First of all an image of the full RGB-D power: 3D pointcloud with RGB information in Rviz

RGB PointCloud + 2D LaserScan

RGB PointCloud + 2D LaserScan

In the middle of the 3D pointcloud you can see the simulation of the 2D laserscan extracted by the Depth Image.

The second image is the 3D pointcloud colorized according to the distance of each point along X axis.

Colorized pointcloud

Colorized pointcloud

The third image shows a flat pointcloud used to sharpen the 2D laser scan

Flat PointCloud and LaserScan

Flat PointCloud and LaserScan

Finally the full laser scan

LaserScan by depth image

LaserScan by depth image

To extract the 2D laser scan I installed a useful ROS package: “depthimage-to-laserscan” and I used this launch script:

The script is available on github in the repository “ros_myzharbot_robot”:

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