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Thanks Ranjit once again, I have worked on my code and got the x,y,z coordinates and then finally got the volume of my pointcloud. But I am not sure that what is the unit of output of my x,y,z coordinates?is it in millimeters or meters? Here is my code:

#!/usr/bin/env python
from sensor_msgs.msg import PointCloud2
from sensor_msgs import point_cloud2
from scipy.integrate import quad
import rospy
import time
import numpy as np


des_vol = input('What is the desired volume:    ')


xpoint = []
ypoint = []
zpoint = []

def callback_pointcloud(data):
    global volume
    global x
    global y
    global z
    assert isinstance(data, PointCloud2)
    gen = point_cloud2.read_points(data, field_names=("x", "y", "z"), skip_nans=True) 

    for p in gen:
      xpoint.append(p[0])
      ypoint.append(p[1])
      zpoint.append(p[2]) 
    x = max(xpoint) - min(xpoint)
    y = max(ypoint) - min(ypoint)
    cross_section = x*y

    def f(z):
        return cross_section

    i = quad(f,min(zpoint),max(zpoint))
    volume = i

def main():
    rospy.init_node('pcl_listener', anonymous=True)
    rospy.Subscriber('/camera/depth/color/points', PointCloud2, callback_pointcloud)
    rospy.sleep(10)
    #rospy.spin()
    print ("value of x : ", x)
    print ("value of y : ", y)
    #print ("value of z : ", z)
    print ("Total initial volume is : ", volume)
    remaining_volume = volume - float(des_vol)
    quotient = remaining_volume/volume
    percentage = quotient * 100
    print("Remaining Volume needs to be completed : ",remaining_volume)
    print("Remaining Percentage needs to be completed : ",percentage)

if __name__ == "__main__":
    main()