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Questions tagged [pcl]

Questions related to PCL the Point Cloud Library

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Segmentation fault in interactive_slam

I was trying to run interactive_slam on my WSL, since I used docker before but it had extremely poor performance (3FPS). So, I compiled everything just like I did on docker with ROS noetic, but when ...
SLAMenjoyer's user avatar
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1 answer
167 views

Converting a rosbag.db3 file to .pcd

I've been trying to convert a rosbag which i've generated after running the kiss-icp algorithm (so output is sensor_msg/msg/PointCloud2) into a 3D map of the environment, by converting it into a .pcd ...
SLAMenjoyer's user avatar
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17 views

Which data structure/library to handle set of points within distance bounds from target?

I have a problem where I have to position a camera (mounted on a robot manipulator) at an optimal location from a 3D target defined as a (convex) polyhedron. The camera must maintain a minimum ...
Srijal's user avatar
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206 views

How to solve the ERROR Cannot locate rosdep definition for [PCL] in ROS2 Humble?

Im trying to use the github package for 2D LiDAR-based odometry in ROS2 humble. This is the package github Simple-2D-LiDAR-Odometry I installed the dependencies required with ...
Macedon971's user avatar
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Iterative Closest Point mapping of 3D lidar pointclouds

I know there are several posts on ICP and I have already gone through several of those. However, I am unable to get a decent enough result in my case. This post is basically to gain in insight into ...
ASH's user avatar
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18 views

Pointcloud Upsampling

I have a small pointcloud. From a space point of vies it can be considered a 4x4 matrix: ...
Antonio Marangi's user avatar
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1 answer
65 views

Concatenate sensor_msgs::PointCloud2 without converting to PCL and back?

For example, there is this Merging 2 pcl from kinects Where the OP converts to/from PCL objects. Unless this kind of thing is a shallow copy, I have a hard time believing there isn't a concatenate for ...
Joshua's user avatar
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1 answer
86 views

how to visualize the sensor data!

now I am making the node for my custom lidar. the struct of this lidar pointcloud is ...
lee dida's user avatar
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58 views

ROS 2 Mesh file and Pointcloud Matching Package

Hi Dear ROS Developers, I am looking for a ros2 package to take input of my PCD mesh file and compare the PCD with Real-time point-cloud data on the given frame and giving me the center of the object ...
Vignesh's user avatar
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1 answer
167 views

Facing issues integrating PCL with ROS

I am trying to use PCL filters in my rosnode ,where I am trying to perform noise removal on the pointcloud,but while building the package. I am getting CMAKE errors ...
lonewolf's user avatar
2 votes
2 answers
430 views

Transform PointCloud message

I am receiving a sensor_msgs::msg::PointCloud (base_link frame) in my callback. I want to transform this PointCloud to the camera frame, so that I can do a ...
renan's user avatar
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1 answer
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Point cloud in gazebo environment

I am working on a project whose main objective is to check the sensors that can perceive the environment and implement those in gazebo environment. so i am trying to implement lidar sensor and ...
Hem92j's user avatar
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1 vote
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Setting hyperparameters of NDT algorithm in PCL

I require some guidance on how to use PCL libraries's NDT algorithm for localisation. The problem I am trying to solve is to monitor whether the robot is localised properly to a map generated by ...
siva_uchiha's user avatar
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2 answers
251 views

Segmentation fault with PCL when transforming point clouds

I am getting a segmentation fault with pcl::transformPointCloud. This is all I am getting on the terminal: ...
ALNA_Perera's user avatar
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0 answers
16 views

What is the best PCL feature descriptor for aligning of occupancy map and point cloud?

I am working on a delocalisation monitor for amcl. I am planning to use NDT for local refinement. However I have trouble selecting proper point feature descriptor for map point clouds. can anyone ...
siva_uchiha's user avatar
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1 answer
32 views

Compilation issues with PCL and message_filters: ; cannot bind non-const lvalue

Compiler: gcc9.4.0 Arch: Ubuntu20.04/AMD64 PCL: 1.10 ROS Galactic I've got two errors which I believe are hindering me from compiling my code here successfully. The first is affecting my attempt to ...
user avatar
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1 answer
125 views

Linking errors PCL

Hi, I am trying to implement something like this: https://pcl.readthedocs.io/en/latest/normal_distributions_transform.html#normal-distributions-transform using lidar output. I'm getting linking errors ...
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1 vote
1 answer
70 views

Has anyone successfully compiled pcl_ros in Raspberry Pi boards?

Could someone confirm if the package pcl_ros is compatible with ARM boards? I have attempted to compile it on a Raspberry Pi board using the options ...
n000b's user avatar
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1 answer
9 views

Noetic and C++: concatenate point clouds using a deque

Hi, I'm trying to combine multiple point clouds in a sliding window fashion using a deque and then publish again the final accumulated (or concatenated) point cloud. I'm using the following code: <...
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0 votes
1 answer
4 views

How to pass Pointcloud2 message to PCL smoothing algorithm?

I am following the ROS PCL tutorials , When I try to implement the Smoothing and normal estimation based on polynomial reconstruction algorithm I get the following error error C2664: 'void pcl::...
user avatar
0 votes
1 answer
177 views

sensor_msgs::PointCloud2 remove field from point cloud

I have a sensor_msg::PointCloud2 with the following fields/channels: x, y, z, intensity, ring, time. However, I need a copy of this cloud containing only the x, y, z data. Erasing the fields from the ...
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0 votes
1 answer
11 views

Getting black scans on ground using rtabmap while generating map from point cloud

Hello, I am using laser assembler package to convert 2D laser scans to 3D point cloud and then using the point cloud to get a 2D occupancy grid map which can be provided to move base for autonomous ...
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0 votes
1 answer
6 views

how to download a pcl data?

hello everyone, I want to save pcl data , the purpose is to use it to create a mesh file on which I can work on in a CAD software. Is there some existing package that can help me with it? Originally ...
user avatar
0 votes
1 answer
35 views

Resolving Eigen Matrix Matching Function Error

When I run catkin_make I get the following error: ...
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0 votes
1 answer
13 views

Passing pcl::shared_ptr to subscriber (ROS2 Foxy)

I am trying to write a pointcloud filtering node in ROS2 foxy using pcl but I am running into some problems I think are resulting from the publishing. The resulting ...
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0 votes
1 answer
52 views

Filtering Pointcloud with min and max angles

I am working with a 3d lidar 360 degrees lidar. On the robot there are some other sensors and accessories. The sensor scans these objects as well and ros navigation stack treats these objects as an ...
user avatar
0 votes
1 answer
24 views

PointCloud2 Storage Format

Hi, I am trying to implement in FPGA a ROS publisher node of PointCloud2 messages. As a first step, i have already implemented a publisher node on the FPGA that is publishing strings. Now, i am trying ...
user avatar
0 votes
1 answer
22 views

Pointcloud2 vs PointCloud2Ptr

Hi, the message i am subscribing to from a topic is PointCloud2, whereas my subscriber callback routine looks like this ...
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0 votes
1 answer
45 views

Can't use 2D indexing with an unorganized point cloud

I'm using perception_pcl package to convert sensor_msgs::msg::PointCloud2 to pcl::PointXYZRGB and get the rgb or x,y,z data according to the raw and column value according to below code: pcl::...
user avatar
0 votes
1 answer
97 views

Annoying build warnings: how to suppress?

On ros melodic, catkin tools, PCL 1.8, cmake 3.20.2, g++, 10.3.0 I get this build warning when doing plane regression. ...
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0 votes
1 answer
53 views

PCL complains no member functions

Hello, My system details: Arch Linux, ROS melodic. I have installed the ROS system using yay. I am building a library that is dependent on PCL library. Part of the ...
user avatar
0 votes
2 answers
113 views

How to convert LaserScan to PCLPointCloud2?

Currently, I'm trying to read the laserscanner data and convert to PCLPointCloud2 for processing. I took the pcl_ros tutorial code and adapted the callback parameter to ...
user avatar
0 votes
1 answer
13 views

How to integrate PCL library into an existing project?

Suppose I clone the hector_slam project in my catkin_ws: cd ~/catkin_ws/src/ && git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam. ...
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0 votes
1 answer
39 views

Exception thrown when deserializing message of length [453372] from [/my_filter]: std::bad_alloc

Hello, I am trying to publish PCL point clouds which are obtained from velodyne point cloud. The program is compiled and running. I can even see the height and width information from the PCL point ...
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0 votes
1 answer
12 views

Newbie question on working with pcl_ros

I'm used to ROS/python, but due to performance requirements I'm writing a node in C++ for filtering pointcloud data. Specifically, I'm inputting a ...
user avatar
0 votes
1 answer
273 views

How to use pcl_ros with ROS 2 Eloquent?

Hello everybody, I am trying to port a ROS 1 object tracking package (https://github.com/praveen-palanisamy/multiple-object-tracking-lidar) to ROS 2 Eloquent. The package I need to port depends on ...
user avatar
0 votes
1 answer
26 views

Nodelet crashes when using pcl::VoxelGrid<pcl::PointXYZ>, pcl::SACSegmentation<pcl::PointXYZ>

Goal: Trying to detect and publish all the detected planes (coefficients) from a depth image. Using depth_image_proc to compute the point-cloud. Created a similar ...
user avatar
0 votes
1 answer
18 views

Extract a Volume of points from a PointCloud2 message

Hi all, I'm trying to achieve something simple, yet I can't seem to find a way to do this. I have a PointCloud2 (as a .pcd file) and a bounding box defined in the same frame as the PointCloud2. I want ...
user avatar
0 votes
1 answer
4 views

PCL filter order

I'm using two filters on my pointcloud: CropBox to restrict points to a region and VoxelGrid to downsample the point cloud. Is it faster to run these in some particular order? Originally posted by ...
user avatar
0 votes
1 answer
3 views

Vibrating point cloud in rviz

So as you can see on the code I'm creating two subscribing nodes: Subscribing from laser scanner Subscribing /tf which is result of transformation /odom -> /robot In this code I'm using ...
user avatar
0 votes
1 answer
16 views

Segmentation fault (core dumped) with PCL 1.9

Hi, I have a problem using PCL 1.9.1 on ubuntu 18.04. The pcl::NormalDistributionTransform works good but a segmentation fault occurs with the pcl::NormalDistributionTransform when I call for the ...
user avatar
0 votes
1 answer
7 views

moveit_tutorials kinetic error

Hello, I am using moveit_tutorials in ros kinetic, ubuntu 16.04. I am using this since many months. but suddenly today I get error while catkin_make, ...
user avatar
0 votes
1 answer
125 views

Conversion from Point Cloud (PCL) to PointCloud2 (ROS) not showing result on RViz

Hello, I followed this tutorial using PCL libraries to perform the conversion from point cloud into a ROS readable message ...
user avatar
0 votes
1 answer
122 views

How to use PCL python in ROS?

Is it possible to build python-pcl against pcl_ROS? I am using ROS Kinetic, Ubuntu 16.04, python2.7 Motivation I wish to use PCL functionality (PointCloud_PointXYZRGB) in a python ROS node. Context I ...
user avatar
0 votes
2 answers
190 views

Color problems extracting RGB from Pointcloud2

Hello all, I am trying to convert a PointCloud2 message into an xyzrgb text file but am having problems with the rgb. I am using and Intel RealSense camera and can extract RGB values just fine using ...
user avatar
0 votes
1 answer
8 views

pick-it 3d camera - image processing in ROS

Hello everyone, For one of my projects i am working with a pick-it 3D m 3D camera (https://www.pickit3d.com/product/pick-it-m) Now, as far as i understand, the pick-it controller has it's own ROS ...
user avatar
0 votes
1 answer
27 views

Help with PointCloud2 Data

Hello, I am using a Raspberry Pi with Lubuntu 16.04, ROS Kinetic, a tim 561 and a package called sick_scan to get data from the LIDAR. I can use sick_scan to publish PointCloud2 data to the topic /...
user avatar
0 votes
1 answer
5 views

Rviz or package not functioning

Hello all, I am using a Raspberry Pi 3, lubuntu 16.04, ROS Kinetic, a Tim561 Lidar and the package sick_scan. I am able to get sick_scan to run correctly and publish data to the topic cloud. I am ...
user avatar
0 votes
1 answer
5 views

setOrigin Broadcast a TF Transform for a filtered cluster box

Greetings! I'm currently working on Pick and Place using Kinect camera, detecting a box from the PointCloud. As it's shown in the pictures below, by using several PCL methods the box-like cluster is ...
user avatar
0 votes
1 answer
12 views

How to get the separate value from the data of pcl::pointxyz?

I can get the result (x,y,z) through the at function of pcl::PointCloudpcl::PointXYZ,but I don't know how to get the separate value of x,y,z since my IDE can't go to the definition and I haven't seen ...
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