Questions tagged [pcl]
Questions related to PCL the Point Cloud Library
536
questions
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26
views
Where is CMakefile.txt of colcon?
I get the same issue in pcl https://github.com/PointCloudLibrary/pcl/issues/2303
which is like below
/usr/include/pcl-1.10/pcl/octree/octree_key.h:155:9: error: ISO C++ prohibits anonymous structs [-...
- 1
0
votes
1
answer
28
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 ...
- 101
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1
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52
views
how to visualize the sensor data!
now I am making the node for my custom lidar.
the struct of this lidar pointcloud is
...
- 1
0
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0
answers
25
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 ...
- 7
0
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1
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53
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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
...
- 11
2
votes
2
answers
134
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 ...
- 53
0
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1
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75
views
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 ...
- 42
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0
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22
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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 ...
0
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2
answers
97
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:
...
0
votes
0
answers
15
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 ...
0
votes
1
answer
10
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 ...
Nilaos
0
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1
answer
34
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 ...
ALNA_Perera
1
vote
1
answer
55
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 ...
- 15
0
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1
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2
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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:
<...
Iacopo
0
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1
answer
2
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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::...
HossamAlzomor
0
votes
1
answer
52
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 ...
labude
0
votes
1
answer
3
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 ...
Robo_guy
0
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1
answer
2
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 ...
adiManav
0
votes
1
answer
6
views
Resolving Eigen Matrix Matching Function Error
When I run catkin_make I get the following error:
...
Shivam
0
votes
1
answer
2
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 ...
morten
0
votes
1
answer
7
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 ...
Tahir M.
0
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1
answer
11
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 ...
Simao_Araujo
0
votes
1
answer
15
views
Pointcloud2 vs PointCloud2Ptr
Hi, the message i am subscribing to from a topic is PointCloud2, whereas my subscriber callback routine looks like this
...
gyrados10
0
votes
1
answer
14
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::...
dinesh
0
votes
1
answer
26
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.
...
LukeAI
0
votes
1
answer
8
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 ...
anonymous25787
0
votes
2
answers
18
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 ...
wiyogo
0
votes
1
answer
2
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.
...
wiyogo
0
votes
1
answer
5
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 ...
aravindsaiUR
0
votes
1
answer
2
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 ...
bjoernolav
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1
answer
68
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 ...
MaxCode
0
votes
1
answer
8
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 ...
praskot
0
votes
1
answer
6
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 ...
deepaktalwardt
0
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1
answer
2
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 ...
mdeegan
0
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1
answer
1
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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 ...
asbird
0
votes
1
answer
2
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 ...
lotfishtaine
0
votes
1
answer
4
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,
...
nd
0
votes
1
answer
28
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 ...
RayROS
0
votes
1
answer
25
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 ...
LukeAI
0
votes
2
answers
40
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 ...
Enmar
0
votes
1
answer
1
view
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 ...
Jan Tromp
0
votes
1
answer
7
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 /...
tracsat
0
votes
1
answer
3
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 ...
Pol
0
votes
1
answer
2
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 ...
artemiialessandrini
0
votes
1
answer
4
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 ...
七小丘人
0
votes
2
answers
1
view
Removing Single Points from a sensor_msgs::PointCloud2
Hi,
I am trying to build a dynamic mask for robot systems using a Kinect2. My Idea is to use a naive euklidean distance search to remove the robot from the world. (I want to have a hole in the cloud ...
Arthur_Ace
0
votes
1
answer
3
views
How .launch file uses "onInit" and "subscribe" of class(nodelet) in pcl_ros
Hi,
I have gone through the pcl_ros source code and understand all things how it is using PCL. I have cleared understanding regarding the pcl_ros - PCL but not understand how .launch file using its &...
Gabbar
0
votes
1
answer
10
views
Concatenating 20 pointclouds in one large cloud - 3d scanner
Hi,
I have about 20 pictures of object and there is a laser line on each one. It starts on the begin of object and goes further about 0.5cm with every picture. I want to create 3D object pointcloud ...
Wrt
0
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1
answer
5
views
how to compute the centroid of the PointCloud2
I am considering how can I compute the centroid of sensor_msgs/PointCloud2, is there a direct way to do this? Because I only find he pcl::CentroidPoint< PointT > Class Template Reference *[link ...
zhonghao
0
votes
1
answer
3
views
Publishing 3D centroid and min-max values
Hey everyone,
I'm using
pcl::compute3DCentroid (*cloud_cluster, centroid);
pcl::getMinMax3D (*cloud_cluster, min, max);
to create box markers for cloud ...
th6262