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save pointcloud data for multiple frames for object detection

asked 2018-02-18 11:51:08 -0500

Spartan_007 gravatar image

I use lidar range measurement to generate pointcloud. Now, I want the robot to do a few tasks based on the obstacles' positions in real time. But it takes quite a few frames of lidar to develop a reasonable pointcloud that is enough to recognize an object roughly. How, can I save the lidar data over multiple frames, so that I can access historical data in every successive laser call back?

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answered 2018-02-18 12:55:52 -0500

gvdhoorn gravatar image

This seems like somethint where the message_filters package can help. For a simple cache, you could look at the Cache filter.

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Is there any way to cache multiple topics in one callback?

Spartan_007 gravatar image Spartan_007  ( 2018-02-27 18:07:13 -0500 )edit

I'm not sure. I'd check the message_filters C++ api docs. They're quite ok.

gvdhoorn gravatar image gvdhoorn  ( 2018-02-28 03:20:17 -0500 )edit

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Asked: 2018-02-18 11:51:08 -0500

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Last updated: Feb 18 '18