how to compute the centroid of the PointCloud2

asked 2018-11-14 02:58:44 -0500

zhonghao
27 ●8 ●9 ●13

I am considering how can I compute the centroid of sensor_msgs/PointCloud2, is there a direct way to do this? Because I only find he pcl::CentroidPoint< PointT > Class Template Reference *[link text] ( http://docs.pointclouds.org/trunk/cla... ) on the website.

answered 2018-11-14 06:54:37 -0500

PeteBlackerThe3rd

flag of United Kingdom of Great Britain and Northern Ireland

9529 ●30 ●143 ●135 https://www.linkedin.c...

You'll first need to convert the sensor_msgs/PointCloud2 into a pcl::PointCloud object as below. Note you may have to change to type of the point cloud to match what you have.

#include <pcl/conversions.h>

...

pcl::PCLPointCloud2 point_cloud2;  // Input PointCloud2 message
pcl::PointCloud<pcl::PointXYZ> pclObj;  // pcl version of the point cloud

// Do the conversion
pcl::fromPCLPointCloud2( point_cloud2, pclObj);

Now you can loop through the pclObj.points vector adding them to a pcl::CentroidPoint object and then extract the centroid at the end. I Don't think there's a direct method to get the centroid from the PointCloud2 message itself.

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Hi! I am trying to convert an image in a point cloud using PCL and I am using the code's lines that you have written; but my input is different, so I don't know how to change the line:

pcl::PCLPointCloud2 point_cloud2;

How can I using an image as input instead of sensor_msgs/PointCloud2? Consider that I have a frame with all necessary informations (intrinsic and extrinsic parameters of camera, depth, and so on). Thanks!