If so, they should all be in the same frame. Write the pcd files to ascii and you could even concatenate the point clouds with a text editor
Felix Endres (
2011-04-14 04:57:48 -0500
)edit
I've currently been using a bag file approach to run rgbdslam. The procedure I use is as follows:
I record a bag file with rgbdslam using the command:
rosbag record /rgbdslam/batch_clouds /tf
And then I use the command:
rosrun pcl_ros bag_to_pcd <bag_file_name> /rgbdslam/batch_clouds <destination_directory>
However, the error I get when running the above command is as follows:
[ERROR] [######]: Frame id /base_link does not exist! When trying to transform between /batch_transform and /base_link.
I assume this problem likely has to do with applying the correct transform from the /tf recorded in the bag file. Is there an simple solution to this, or will I need to make an edit to the bag_to_pcd code to work for this specific case?
Thanks
will I need to make an edit to the bag_to_pcd code to work for this specific case?
Yes, open bag_to_pcd.cpp and replace the one occurence of /base_link by /openni_camera
So I implemented this as my own package called "bag_to_pcd2." I just want to confirm, but should the output be a series of pcd files? I was under the assumption that it would be one combined pcd file.
If not, I guess I can right my own pcd combiner.
So the bag_to_pcd code is working fine with the bag file provided on the rgbd6dlsm webpage. However, when I try recording it on bag files I've generated, I get a bunch of errors that look like as follows:
[ WARN] [1302782687.209693801]: TF_OLD_DATA ignoring data from the past for frame /openni_depth_frame at time 1.30278e+09 according to authority /bag_to_pcd Possible reasons are listed at
[ERROR] [1302782687.243355116]: You requested a transform that is 103.609 seconds in the past, but the tf buffer only has a history of 0.288 seconds. When trying to transform between /batch_transform and /openni_camera.
Is this likely an error during data collection? As indicated in the original post, I execute the command to start recording before I hit CTRL+P. After I have sent the world model (CTRL+S), I then ctrl+c out of the rosbag record.
And I forgot to thank you for your help in my earlier posts. Your help is very much appreciated
Edit: Nevermind, the converter seems work on occasion with my own bag files.
-Shark
Asked: 2011-04-13 07:39:37 -0500
Seen: 339 times
Last updated: Apr 14 '11
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