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getting inf values in scan using pointcloud_to_laserscan indigo

asked 2016-01-05 09:19:18 -0600

Naman gravatar image

updated 2016-01-08 11:19:23 -0600

Hi,

-- See Update 2 --

I am using iai_kinect2(ROS Indigo and Ubuntu 14.04) to get a depth cloud from my Kinect2 in the form sensor_msgs/Image. Then, it is converted to sensor_msgs/PointCloud2 using depth_image_proc to do all the filtering operations using pcl. Now, I want to use pointcloud_to_laserscan but I am having some issues in converting the filtered_pointcloud to laser_scan. It does not give any error but the output laser_scan contains only INF. There are many related posts like this and this. I can't use depthimage_to_laserscan because I need to merge multiple point clouds and do filtering. Also, I tried changing the target_frame to kinect2_link but that didn't help. Also, I tried changing some of the parameters but no change in the output laser_scan. Here is my launch file :

    <launch>

    <node pkg="kinect2_bridge" type="kinect2_bridge" name="kinect2" output="screen">
        <param name="publish_tf" value="true"/>
    </node> 

    <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager"/>

    <node pkg="nodelet" type="nodelet" name="point_cloud_xyz" args="load depth_image_proc/point_cloud_xyz standalone_nodelet">
        <remap from="camera_info" to="/kinect2/sd/camera_info"/>
        <remap from="image_rect" to="/kinect2/sd/image_depth_rect"/>    
        <remap from="points" to="/kinect2/pointcloud"/>
    </node>

    <node pkg="kinect2_filtering" type="kinect2_filtering" name="kinect2_filtering" output="screen"/>

    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pcl_to_laser" output="screen">
        <remap from="cloud_in" to="/kinect2/pointcloud_filtered"/>
        <remap from="scan" to="scan2"/>
         <rosparam>
                target_frame: kinect2_link # Leave disabled to output scan in pointcloud frame
                transform_tolerance: 0.01
                min_height: 0.0
                max_height: 1.0

                angle_min: -1.5708 # -M_PI/2
                angle_max: 1.5708 # M_PI/2
                angle_increment: 0.0523 # M_PI/360.0
                scan_time: 0.3333
                range_min: 0.45
                range_max: 4.0
                use_inf: true

                # Concurrency level, affects number of pointclouds queued for processing and number of threads used
                # 0 : Detect number of cores
                # 1 : Single threaded
                # 2->inf : Parallelism level
                concurrency_level: 1
            </rosparam>
    </node>

</launch>

I am unable to make pointcloud_to_laserscan work properly. Does anyone have any idea what is the issue here? Any help will be appreciated.

Update 1 : When I changed max_height: 5.0, I get a laser_scan but it is completely wrong. Here it is :

header: 
  seq: 7653
  stamp: 
    secs: 1452114415
    nsecs: 194144000
  frame_id: kinect2_link
angle_min: -1.57079994678
angle_max: 1.57079994678
angle_increment: 0.0522999987006
time_increment: 0.0
scan_time: 0.333299994469
range_min: 0.449999988079
range_max: 4.0
ranges: [inf, inf, inf, inf, inf, inf, inf, inf, inf, 0.45063257217407227, 0.45248475670814514, 0.4535152316093445, 0.454106867313385, 0.45574814081192017, 0.45014896988868713, 0.45500892400741577, 0.4504481256008148, 0.45145583152770996, 0.450962096452713, 0.45117509365081787, 0.45415404438972473, 0.4528849124908447, 0.4500834047794342, 0.45053648948669434, 0.4508683979511261, 0.4519908130168915, 0.45469483733177185, 0.4522281289100647, 0.45500484108924866, 0.45522522926330566, 0.45422250032424927, 0.4566135108470917, 0.4510946571826935, 0.45335447788238525, 0.45148807764053345, 0.4525870084762573, 0.45198413729667664, 0.45033854246139526, 0.4502975344657898, 0.45032933354377747, 0.4510512351989746, 0.4511733055114746, 0.45179998874664307, 0.4508054852485657, 0.45005494356155396, 0.45013701915740967, 0.4505907893180847, 0.45257997512817383, 0.4503863453865051, 0.45146650075912476, 0.45116832852363586, 0.45020565390586853, 0.4511633813381195, 0.4503015875816345, 0.4507128894329071, 0.4509909152984619, 0.4540099501609802, 0.4507279098033905, 0.45697665214538574, 0.45599526166915894, 0.45608508586883545]
intensities: []

Ranges are either INF or very close to range_min (0.45). Here is ... (more)

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Comments

Does your rviz screenshot include the original point cloud, or the filtered point cloud?

ahendrix gravatar imageahendrix ( 2016-01-06 17:43:21 -0600 )edit

RVIZ screenshot is showing the filtered point cloud.

Naman gravatar imageNaman ( 2016-01-06 18:12:37 -0600 )edit

1 Answer

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answered 2016-01-06 07:04:25 -0600

Akif gravatar image

updated 2016-01-07 01:04:32 -0600

It seems like your point cloud readings are rejected to due some reason and all your laser message remains as INF.

It may be helpful to follow rqt_console output of pointcloud_to_laserscan_node in DEBUG level to see the reasons for rejections. There may be an order of magnitude problem with your ranges and readings.

Update:

There may be a transformation problem with your frames. RGBD sensors should use _optical frames which has different axis orientation than the standard one. Please check REP-103 on this. If your "kinect2_link" frame is an optical frame, then you will get your laser scan on vertical plane since pointcloud_to_laserscan generates scans on x-y plane. This also explains the reason that when you change max_height your range is affected (z axis is forward on optical frames).

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Thanks @Akif! Yes, Transformation was the problem!

Naman gravatar imageNaman ( 2016-01-08 11:20:43 -0600 )edit

You're welcome!

Akif gravatar imageAkif ( 2016-01-09 03:23:50 -0600 )edit

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Asked: 2016-01-05 09:19:18 -0600

Seen: 1,239 times

Last updated: Jan 08 '16