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Trying to load a pcd file to rgbdslam

asked 2016-02-11 10:00:09 -0600

jacksonkr_ gravatar image

I saved a pcd file from rgbdslam Save > Save as Point Cloud ... and when I tried to Load > Open PCD files I get the following error:

 [ERROR] [1455205544.447237056]: Cloud has "flat" dimensions: 1 x 5305023
  • Ubuntu 14.04.5
  • ROS Indigo
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answered 2016-02-16 09:11:18 -0600

Short answer: The saved cloud is the map, the load function loads individual measurements.


The load function takes a set of pcd files, each representing one sensor measurement and expects each to have the 2d raster layout of a depth image, e.g. 640x480.

The saved cloud is an aggregation of the point clouds in the map, transformed into a common coordinate frame (/map). Because of the aggregation, the raster layout is dropped and the cloud has "flat" dimensions.

The obvious next question is "how do I load a map into rgbdslam", e.g. to continue mapping. Unfortunately you can't, it's not implemented.

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Asked: 2016-02-11 10:00:09 -0600

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Last updated: Feb 16 '16