PointCloud2 read_points unpack_from problem

asked 2018-04-30 12:43:21 -0600

SancheZ gravatar image

Hey, I'm working on a object recognition framework that uses deep learning methods. Given the locations of the objects in the image (bounding box), I use the PointCloud publised by a Kinect 2, to locate those.

Currently, I'm working with ROS Kinetic and I'm developing in python.

Sometimes, trying to obtain the xyz points of the bounding box, using the read_points method I receive the following error:

File "/home/some1/catkin_ws/src/sem_mapper_isr/sem_mapper_markers/nodes/object_mapper.py", line 205, in get_object_3D_points points = np.array(list(pc2.read_points(self.curr_pc,field_names = ("x", "y", "z"), skip_nans=True, uvs=bb_pts))) File "/opt/ros/kinetic/lib/python2.7/dist-packages/sensor_msgs/point_cloud2.py", line 83, in read_points p = unpack_from(data, (row_step * v) + (point_step * u)) error: unpack_from requires a buffer of at least 12 bytes

This error doesn't happen everytime I try to obtain the xyz points. Sometimes, there is no problem. The code is extensive, I will try to show their important parts for this case.


import rospy
from sensor_msgs.msg import PointCloud2, PointField
import sensor_msgs.point_cloud2 as pc2

PointCloud Callback definition:

self.pc_xyz_sub = rospy.Subscriber(sub_pointcloud_topic, PointCloud2, self.pointcloud_callback, queue_size=2)

PointCloud Callback:

def pointcloud_callback(self, pointcloud_msg):
    self.curr_pc = pointcloud_msg

Where I try to obtain the xyz points:

def get_object_3D_points(self,width_min,width_max,height_min,height_max,view_path):
    bb_pts=((i,j) for i in xrange(width_min,width_max+1) for j in xrange(height_min, height_max+1))#pixels of the image to verify in the pointcloud
    self.pc_message_locker.acquire() #lock the pc message -> dont change/access current pc message at same time
    points = np.array(list(pc2.read_points(self.curr_pc,field_names = ("x", "y", "z"), skip_nans=True, uvs=bb_pts)))

I'm subscribing to the camera/depth_registered/points published by openni using Kinect.

I searched for that problem with the unpack and found nothing until now, do you have any idea what can be happening? Thanks for your patience, SancheZ

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did u find a solution for this??

MohamedEhab gravatar imageMohamedEhab ( 2019-04-18 14:04:22 -0600 )edit