Idea of importing point cloud map into gazebo

Reference resources This post Cao Chaoda's answer , Ideas as follows ：
Cao Chao CMU：
“ If you don't need to render with a map rgb Image words , We usually import the pure LIDAR point cloud map into CloudCompare Conduct downsample And calculate for each point normal. Then save it as a file （ such as ply Format ）, Reuse meshlab Open and rebuild mesh. Last use meshlab Save it as dae The format file can be loaded into gazebo 了 .

If you have requirements for image rendering, you can use image generation 3D Model . our campus That's what the environment does . We use first google earth Collect pictures from different angles . Finally, use these pictures directly 3D reconstruction.”