pcl_ros VoxelGrid strange behavior
I designed an algorithm to do obstacle detection using PCL and Kinect. Now it's working but I want to speed it up. So I looked at nodelet. I tried the filters PassThrough and VoxelGrid nodelet nodes in a launcher. I created a launchfiles which launch a PassThrough and VoxelGrid filters. It works perfectly fine in my PC box, the output of Voxel Grid is the same as what I get before using PCL on a PointCloud object.
Now when I run the same code in a Odroid-U3 board, I have a a very strange output. Instead of having 1000 points like on the PC Box, I have from 0 to 100 points after VoxelGrid filtering.
I use a github repository for my code so the code is exactly the same on my PC box and inside the Odroid board.
Do you know what can be the problem? I have no idea of what to do to fix the problem.
This is the filter's launchfile :
<launch>
<node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
<node pkg="nodelet" type="nodelet" name="passthrough" args="load pcl/PassThrough pcl_manager" output="screen">
<remap from="~input" to="/camera/depth/points" />
<rosparam>
filter_field_name: z
filter_limit_min: 0.0
filter_limit_max: 4.0
filter_limit_negative: False
</rosparam>
</node>
<node pkg="nodelet" type="nodelet" name="voxel_grid" args="load pcl/VoxelGrid pcl_manager" output="screen">
<remap from="~input" to="/passthrough/output" />
<rosparam>
leaf_size: 0.08
</rosparam>
</node>
</launch>
Thanks
Asked by Arowana on 2015-06-24 01:53:35 UTC
Comments
I am little confused by what you mean here - "I have from 0 to 100 points after VoxelGrid filtering". Do link your repo here, so that we can have a look and maybe understand whats wrong.
Asked by ritwik1993 on 2015-06-25 14:26:12 UTC
I added the code of the launchfile I use to my post. To know the size of the cloud I look at the topic /voxel_grid/output, specifically at the height and width attributes. (height=1 and width is the size of the cloud)
Asked by Arowana on 2015-06-26 04:23:24 UTC