Questions tagged [pointcloud]
The pointcloud tag has no usage guidance.
418
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9
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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 ...
1
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1
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42
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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 ...
- 11
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32
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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 ...
1
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1
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73
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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:
...
- 27
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2
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102
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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 ...
- 53
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36
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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]: ...
- 3
2
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2
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128
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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
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1
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72
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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 ...
- 42
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126
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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 ...
- 27
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1
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106
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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 ...
- 42
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21
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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 ...
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127
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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 ...
0
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1
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8
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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:
...
Anubhav Singh
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1
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8
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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. ...
furkan_
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1
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13
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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 ...
Sofie
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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
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2
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8
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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 ...
distro
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1
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50
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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
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3
answers
38
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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....
Delbina
0
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1
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7
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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 ...
msmcconnell
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1
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10
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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):
...
0
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1
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12
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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 ...
zkytony
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1
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2
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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
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1
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2
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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 ...
Delbina
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1
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28
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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 ...
FlorianSp
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1
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7
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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 ...
Q
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7
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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
SEN TenZ
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1
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3
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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 ...
benthebear93
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1
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7
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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.
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1
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7
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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 ...
YoungjoonHong
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1
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1
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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::...
nayan
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1
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11
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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
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1
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10
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How to get xyz coordinates of pointcloud using Intel Real Sense D415?
I am working on Ubunto 20.4 with ROS noetic. I am having intel Real sense D415 camera by which I can visualize the point cloud on Rviz.
I want to get xyz coordinates of each pointcloud and from that ...
arifzaman
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1
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3
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Problem with reading point clouds
Dear community,
I have following problem while trying to convert PointCloud2 message to actual point cloud:
...
TimeEscaper
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1
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8
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Understanding Pointcloud2 data
I'm trying to understand the pointcloud2 data extracted from a bag file. The contents of one sample message is as follows:
...
SurajJadhav
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1
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19
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Converting x, y, z array to point cloud data
Hello ROS developers,
I am trying to convert a2D array to a point cloud value and publish it thereby visualising it in rviz. Can anyone guide me to solve the below issue which I am facing during the ...
Vignesh_93
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1
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9
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How to Fuse or Merge PointClouds Efficiently?
I have a stereo camera that gives me an X,Y,Z point for each pixel in the image. I detect an object in the image using an algorithm and get a bounding box. I then have a radar that also gives me ...
ia
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2
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17
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PointCloud2 visualisation in rviz2
EDIT:
Apparently the problem is not about visualisation or rviz. I tried to implement a minimal subscriber that receives point cloud messages and just print a notification and it doesn't work. The ...
g.bardaro
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1
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4
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Subscribe to PointClud2 Ros2
Hello together
I get a depth image from my intel d453 camera in a PointClud2 msgs.
My problem is now the following. I do not understand how I can access the individual points, i.e. XYZ coordinates. It ...
Schloern93
0
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2
answers
111
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Converting image pixel coordinates 2D(X, Y) to 3D world coordinate(Quaternion)
Hi there,
I want to obtain quaternion from x,y,z(depth camera) position. I am new to ros, and I am using Intel real sense.
Things Done:
I have integrated yolov5 with ros, and I am obtaining the ...
Ranjit Kathiriya
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1
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4
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Why is the Pointcloud2 message large compared to raw sensor data?
According to section 8.2.1 of the [VLP-32 manual] (https://icave2.cse.buffalo.edu/resources/sensor-modeling/VLP32CManual.pdf), the data packet rate in single return mode is determined as follows:
<...
LalithV
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1
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15
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How to add a point to sensor_msgs::PointCloud2?
I declare a point as
Eigen::Vector2f point;
However, I cannot add this point to my PointCloud2 with this code:
...
wiyogo
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1
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8
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Subscribe to two PointCloud2 messages using message_filters
I was trying to synchronize between two PointCloud2 messages, following these tutorials. But I was not able to compile the following piece of code:
...
Martian
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1
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1
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How to pass message into rosservice using args
Please refer to the package
ethzasl_icp_mapper's node matcher_service
Matcher Service node offers a Service match_clouds, which is by description:
<...> takes two
sensor_msgs/PointCloud2 ...
artemiialessandrini
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1
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3
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rviz zooming center
I am running a ROS project, publising topics, and viewing in rviz. But I can't seem to figure out how to make the zooming center coincide with the camera of the ...
ignite
0
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1
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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
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1
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1
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What time should i use for ros messages?
This is a general question about ROS messages, but for the sake of the question i will use point clouds.
Lets say my lidar obtains a point cloud at time t=0 sec.
Now i do some processing on the point ...
Enmar
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1
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12
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Unable to visualise point cloud in RViz even with header.frame_id selected
Hi all, I very new to ROS, so please bear with me. I am trying to render sample point cloud in the RViz, but for some reason it just won't show. I have set fixed frame to ...
mun
0
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1
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15
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Unable to visualise point cloud from rosbag file in RViz
I have a .bag file which should contain point cloud and RGBD images. However, I'm unable to visualise them in RViz whilst playing the ...
mun
0
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1
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1
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"Double vision" in rviz
Hi
I'm testing out a RGBD camera and rviz, but I've noticed that I'm getting "double vision" in PointCloud2. This is me holding up one finger:
As you can see, there's a clone of the shadow ...
mun