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fromROSMsg saves an unstructured pointcloud?

asked 2012-02-09 02:16:18 -0600

quimnuss gravatar image

updated 2016-10-24 09:03:28 -0600

ngrennan gravatar image

When retrieving pointclouds from kinect openni (topic: /camera/rgb/points) and calling

pcl::fromROSMsg(*pcl2_msg_, pcl_xyzrgb_);

the pointcloud goes from structured tu unstructured.

ROS_INFO("msg size %d %d size %d %d ",pcl2_msg_->height, pcl2_msg_->width, (int) pcl_xyzrgb_.height, (int)pcl_xyzrgb_.width);


[ INFO] [1328803389.512748025]: msg size 480 640 size 1 101595 
[ INFO] [1328803389.945569604]: msg size 480 640 size 1 101593 
[ INFO] [1328803390.400027375]: msg size 480 640 size 1 101676 
[ INFO] [1328803390.840122150]: msg size 480 640 size 1 101569

and so on.

Any hint why this happens and how to keep the pointcloud dense and structured?

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I've used fromROSMsg and maintained the dense pointcloud structure. Are you running it through any of the nodelet filters first? Those tend to output unstructured clouds. How are you initializing pcl_xyzrgb_?
Dan Lazewatsky gravatar image Dan Lazewatsky  ( 2012-02-09 04:51:27 -0600 )edit
I had diagnosed the problem wrong, it's not fromROSMsg that unstructures the point cloud but removePlanes and copyPointCloud when going from xyz to rgb.
quimnuss gravatar image quimnuss  ( 2012-02-10 01:27:45 -0600 )edit

But how do you decide that its unstructured cloud. 480x640 mentions that its structured. when u have it as 1x307200 then it is unstructured. So i guess its fine here.

karthik gravatar image karthik  ( 2012-06-07 06:14:13 -0600 )edit

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answered 2012-02-10 02:09:27 -0600

quimnuss gravatar image
I believe it's the extract.filter that unstructures the pointcloud, which I guess is the intended behaviour.
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Asked: 2012-02-09 02:16:18 -0600

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Last updated: Feb 09 '12