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Questions tagged [pointcloud]

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How to apply pointpillars on ROS2?

I am using pointpillars for 3D object detection on point cloud data (https://github.com/shangjie-li/pointpillars/tree/master). I have successfully trained and tested the model. I would like to apply ...
Abbas's user avatar
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1 answer
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Pointcloud2 in RVIZ2 using tf2_ros::buffer and lookupTransform

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Maverick_ROS's user avatar
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How to get depth data from the PX4 Gazebo simulation and visualize it in RVIZ2?

I started the simulation using make px4_sitl gz_x500_depth and able to control the simulated drone using QGroundControl as well. ...
Rajesh Pachaikani's user avatar
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1 answer
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360 deg pointcloud of environment using intelreasense 435i

I have depth cameras on 4 side of robot . I want to make a single pointcloud message combining all the pointcloud messages from 4 cameras. Later want to use so obtained 360 pointcloud view of ...
Sidharth Jeyabalsing's user avatar
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1 answer
25 views

pointcloud fusion of 4 intelrealsese depth camera

I'm having a robot that has intelrealsense 435d depth camera on all the four sides.How can i fuse pointcloud data from each depth camera to make a 360deg pointcloud of the environment around the robot....
sidharth jeyabal's user avatar
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Problems using octomap to raycast a point in front of the robot

I'm trying to create a ROS2 service that returns a 3D point the robot is currently looking at. I'm struggling to get it to consistently work, I believe my issues are with the way I'm subscribing to ...
tmayoff's user avatar
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1 answer
82 views

Alternative to tf2_sensor_msgs.do_transform_cloud in ROS 2[Humble] for Point Cloud Transformation?

I am relatively new to working with point cloud data in ROS 2, and I am currently facing an issue with transforming point cloud data. I have been trying to utilize the tf2_sensor_msgs....
Dragon's user avatar
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1 answer
68 views

Local Costmap do not update using Point Cloud data

We are having trouble updating local costmap when using Point cloud data. Sometime costmap reflects the obstacle, but mostly it doesn’t. We are sharing logs, nav2_params and a sample images Kindly ...
naitik nakrani's user avatar
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8 views

Publish a .bag file in ROS using OpenDR

I'm trying to publish a .bag file for 3D object detection using OpenDR toolkit. I'm new at ROS and I see that they use .txt and .bin files in this PointCloud script to detect the objects in the point ...
ARosOpenDR's user avatar
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1 answer
48 views

Issue with PointCloud Filtering

I am trying to process a Point Cloud read from a depth camera using the pcl library. Sometimes, while the node that does the filtering is running, the node crash ...
Biagio Trimarchi's user avatar
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Aligning Point Cloud with IMU Heading in Sensor Fusion Setup

I'm currently working on a sensor fusion setup involving an IMU that provides absolute orientation with respect to True North and an Ouster Lidar generating PointCloud2 data. The IMU publishes to the ...
AnuNarayan R's user avatar
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1 answer
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ROS2 : ZED 2i Pointcloud filtering

I am trying to filter out white points from the ZED2i published pointcloud and I am encountering a lot of issues. ...
Harsh Shah's user avatar
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1 answer
308 views

Converting PointCloud2 to Structured NumPy array in ROS2

I am trying to convert PointCloud2 data to numpy array. I am converting it with package: sensor_msgs_py.pointcloud2 using the method: read_points I always get an error that Cloud is not a sensor_msgs....
Doki's user avatar
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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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27 views

Filters for Veiling/Smearing and ghost detections of SICK LiDAR data

I'm having trouble with LiDAR data from a SICK MRS1104C (4-layer 360°) on data that was collected in an orchard. Specifically, I observe ghost detections when I measure non-dense vegetation as can be ...
tschuett's user avatar
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Feasibility: Pointcloud-Mesh Registration to determine unknown transforms?

Hello friends, I have a series of timestamped 2D laserscan cross sections from a mobile robot driving from one end of a straight pipe to another. The robot travels roughly around the same speed, but ...
emi's user avatar
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Identifying Gazebo objects with a GpuRaySensor

I want to identify objects within a laser scan provided by Gazebo with the aim of obtaining point-wise ground truth data. Using the gazebo::sensors::RaySensor, I ...
labude's user avatar
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2 answers
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Wrong Point Cloud orientation in Rviz

I am trying to correctly orient the pointcloud data coming from a Depth camera sensor Gazebo model into the Rviz, but it's not working. Camera Model: ...
Vrushab Jain's user avatar
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1 answer
592 views

SOLVED: How to visualize in rviz2 fixed frame a Pointcloud2 collected w.r.t. a mobile frame

I'm using ROS2 Humble on Ubuntu 22.04. In my project I'm trying to visualize in rviz2 a pointcloud generated by a depth camera, mounted on a drone simulated in gazebo garden. Thanks to this topic I've ...
AleCavalliPolito's user avatar
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0 answers
23 views

Publishing consecutive Pointcloud2 messages for visualization in RViz

I want to view a PointCloud2 topic in RViz. This topic is essentially a 3D map that is being updated incrementally via new PointCloud2 messages. Suppose I have multiple PointCloud2 messages being sent ...
hunterlineage's user avatar
1 vote
1 answer
85 views

Saving PLY file without rviz

I am running my roslaunch script and collect the pointclouds by using rviz and manually click and export the ply/pcd to a file and analyse it after. Now I want to run the script without rviz and make ...
Tpaddo's user avatar
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1 vote
1 answer
93 views

Dispersion of object edges in lidar point cloud

I'm having an issue with some spurious points appearing in the point clouds coming from my 3D lidar. More specifically, I'm working with an RS-Bpearl lidar, and the point clouds that I receive from it ...
Constantin's user avatar
1 vote
1 answer
87 views

Rviz crash when adding topic

I'm using a plugin for visualization of topic type vision_msgs/Detection3DArray. I add a point cloud and there is not problem, but when I add this topic Rviz crashes with this error message: ...
ARosOpenDR's user avatar
1 vote
2 answers
126 views

colorize area of point cloud on a 2D image

I am projecting a 3D Point Cloud on a 2D image incoming as ROS 2 messages. Now, I want to fill the gaps between pixels from the point cloud, so that I can see an area, instead of single pixels and ...
renan's user avatar
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1 answer
173 views

ROS 2 - Poincloud2 message drop when trying to display in RVIZ2

I want to send a dummy PointCloud2 message to be visualized with RVIZ2, but when I try to subscribe to the pointCloud2 message, I received the following error : [INFO] [1698326059.380456033] [rviz]: ...
Gregzz's user avatar
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2 votes
2 answers
410 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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0 votes
1 answer
295 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 ...
Hem92j's user avatar
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0 votes
1 answer
547 views

Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty

I'm trying to see a point cloud in Rviz but when I add the topic to de Displays i get an error (Rviz) and in the terminal where i opened Rviz I get the following message: Invalid argument passed to ...
ARosOpenDR's user avatar
1 vote
1 answer
191 views

Point cloud using static lidar

I am working on a "Dynamic Object detection" problem using just point cloud and deep learning algorithms. I have to use a static depth camera/ static lidar in the environment. The ...
Hem92j's user avatar
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1 vote
0 answers
29 views

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
1 vote
1 answer
396 views

RViz2 seems to have problems with dynamic TF when visualizing sensor data

I am simulating a quadrotor with a depth camera on Gazebo and I am trying to see the data published by the simulation on RViz2. The problem is that when I tried to visualize the point cloud of the ...
Biagio Trimarchi's user avatar
0 votes
1 answer
64 views

Wrong Pointcloud Orientation in Rviz

Hey, I am trying to correctly orient the pointcloud data coming from a Kinect 3D camera sensor Gazebo model into the Rviz, but it's not working. In Gazebo, a Pose is of the form: ...
user avatar
0 votes
1 answer
15 views

Mirroring PointCloud data as laserScan data

Hello, Using the depthimage_to_laserscan package, I can convert pointcloud data from the depth camera into laser data and display them in the rviz environment. In the same way, I can create a costmap. ...
user avatar
0 votes
1 answer
42 views

sensor_msgs::PointCLoud empty in Callback but rostopic echo gives values

Hello, I want to work with a sensor_msgs::PointCloud I am provided with by a laser scanner. I subscribed to the topic /riegl3d and the Callback is executed but the PointCloud is empty. For example the ...
user avatar
0 votes
1 answer
7 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: <...
user avatar
0 votes
2 answers
25 views

How to add filter to pointcloud_to_laserscan package and depthimage_to_laserscan package

I need to add filters to my pointcloud and depthimage data before converting them to ...
user avatar
0 votes
1 answer
175 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 ...
user avatar
0 votes
3 answers
128 views

extracting values from laser scan data!

Hi, I have three objects in front of my robot. I want to specify distance to these objects. i have converted pointcloud into laser scan. now i want to extract the least values from the laser scan data....
user avatar
0 votes
1 answer
18 views

Why might ros1_bridge stop forwarding lidar PointCloud2 messages?

I have a large ROS network comprised of both ROS1 and ROS2 nodes. The nodes are bridged by the ros1_bridge dynamic_bridge. Two of the ROS2 nodes publish VLP-32C lidar data as sensor_msgs/PointCloud2 ...
user avatar
0 votes
1 answer
24 views

rtabmap obstacle_detection error: lookup would require extrapolation into the future when looking up transform

Hi everyone, I have a problem with using rtabmap obstacle_detection nodelet, I get the following error when trying to read the published topic ( in my case called /pointCloud_obstacles): ...
Alessio Parmeggiani's user avatar
0 votes
1 answer
16 views

Noisy points from point cloud causes Moveit! to fail

As shown in the screenshot below, some of the points (green) from the Kinect2 camera point cloud (kinect2/sd/points) are really close to the robot, due to sensor ...
user avatar
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
4 views

finding the highest match between two images and/or point clouds

hi which kind of methods are used for finding the highest match between two images and/or point clouds? I would be grateful if anybody can support. ros, kinetic 16.04 Originally posted by Delbina on ...
user avatar
0 votes
1 answer
98 views

MoveIt!2 add Pointcloud2 to OccupancyMapMonitor

First my Setup: Ubuntu 20.04 ROS2 Foxy from Debian Packages MoveIt!2 ROS2 UR Driver from https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver own Node for Launching RViz with moveIt and ...
user avatar
0 votes
1 answer
22 views

Drawing PointCloud2 in the World Coordinate System by Rviz

I'm drawing PointCloud2 with rviz on melodic. They are superimposed based on a long decay and a tf based on the exact sensor position (with about 200hz). However, there was something wrong on this ...
user avatar
0 votes
1 answer
50 views

what's the difference between point cloud and octomap. Where do we use Octomap instead of Pointcloud?

I am unable to understand the difference between these two so cant decide which approach to go with Originally posted by SEN TenZ on ROS Answers with karma: 1 on 2021-09-08 Post score: 0
user avatar
0 votes
1 answer
6 views

how can i check bottle neck in my code while node is running?

So i have a node that subscribes pointcloud2 msgs which generated from moving line scanner. (about 200hz publish rate) I tried to concatenate(add) pointcloud every subscribe callback but it seems very ...
user avatar
0 votes
1 answer
48 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

how to get point cloud data from Kinect ROS

hello there ! I am using Kinect v4 in our lab, I successfully was able to install ROS on Kinect v4. what we are trying to do is to get point clouds from Kinect. Is there any way to do it by using ...
user avatar
0 votes
1 answer
1 view

Problem with assigning different colors to segments in PointCloud

Hello, I am trying a segment tracking algorithm. Right now I have 2 segments. I am coloring each segment with different RGB values, pushing the segments into output_cloud which is pcl::PointCloud2pcl::...
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