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Hi Sudhan,

in general, rgbdslam does not alter the received point cloud. Therefore they are sent out as structured (check width and height values are both > 1). Maybe you are wondering about the "is_dense" property, which is defined as "does not contain NaN values" and is set by the openni driver. Anyway structured or not, dense or not, this should not be the problem.

Hi Sudhan,

Edit: I found a bug, where the tf frames of the old openni_camera driver are hardcoded. Because of this, octomap_server will not find a transformation between /map and the point cloud frame when using openni_launch. I'll try to release a fix soon.

in general, rgbdslam does not alter the received point cloud. Therefore they are sent out as structured (check width and height values are both > 1). Maybe you are wondering about the "is_dense" property, which is defined as "does not contain NaN values" and is set by the openni driver. Anyway structured or not, dense or not, this should not be the problem.