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fromROSMsg saves an unstructured pointcloud?

asked 2012-02-09 02:16:18 -0500

quimnuss gravatar image

updated 2016-10-24 09:03:28 -0500

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);

outputs

[ 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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Comments

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 -0500 )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 -0500 )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 -0500 )edit

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answered 2012-02-10 02:09:27 -0500

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 -0500

Seen: 558 times

Last updated: Feb 09 '12