pcl_ros VoxelGrid strange behavior

asked 2015-06-24 01:53:35 -0500

Arowana gravatar image

updated 2015-06-26 04:21:44 -0500

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

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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.

ritwik1993 gravatar imageritwik1993 ( 2015-06-25 14:26:12 -0500 )edit

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)

Arowana gravatar imageArowana ( 2015-06-26 04:23:24 -0500 )edit