The ROS In-hand scanner provides a 3D Scanning application based on the PCL In-hand scanner for small objects by Martin Sälzle and the PCL developers.

Recently is upated by Qiang Li for adapting the package used with xyzrgba and xyz point cloud format

Original PCL Documentation can be found here:

http://pointclouds.org/documentation/tutorials/in_hand_scanner.php

The following video shows a scanning process using Intel RealSense Camera. https://drive.google.com/file/d/0B-EoR_OK9GCgcEw3V0l1ZnNPU2s/view

This package needs PCL 1.8.0 to be installed. For further information, see the following link: http://pointclouds.org/documentation/tutorials/compiling_pcl_posix.php#experimental

#Prepare Workspace
source /opt/ros/indigo/setup.bash
mkdir -p ~/rihs_ws/src
cd ~/rihs_ws/src
catkin_init_workspace
cd ~/rihs_ws/
catkin_make
source devel/setup.bash

#Get ROS In-hand scanner
cd ~/rihs_ws/src
git clone http://github.com/RodBelaFarin/ros_in_hand_scanner
cd ~/rihs_ws/

#Install
rosdep update
rosdep install ros_in_hand_scanner
catkin_make

Subscriber Topic: camera/depth_registered/points
Message Type: sensor_msgs/PointCloud2
Description: organized point cloud

Some quick infos on how to use.

Start the ROS In-hand scanner:

original startup version
roscore
rosrun ros_in_hand_scanner ros_in_hand_scanner_node

updated startup version
roslaunch ros_in_hand_scanner interact_gui_startup.launch

Due to performance issues, a realtime registration is very slow with down to < 0.1 fps. A workaround is to record a rosbag file during the scanprocess itself. You can use the preview window to get a view of your actual scan orientation. Play the rosbag file afterwards with a low rate ~0.1 and start registration now. Follow the hints in the PCL documentation for your scan process.