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Publishing Pointcloud2 Centroid to be able to be able to draw bounding box

asked 2022-04-25 08:55:00 -0500

hichriayoub gravatar image

updated 2022-04-30 13:16:41 -0500

lucasw gravatar image

Hello everyone, so i am working with localization using pcl library and i am having trouble using this library as i am not good in c++, my problem is that i have an existing topic which publishes a pointcloud named "/ti_mmwave/radar_scan_pcl_0' i want to subscribe to this topic and get the centroid of this point cloud to be able to draw a bounding box on this pointcloud

anyone can help me with this i have searched on the internet but can't find anything that tells me how to subscribe to existing pointcloud and retrieve centroid all the problems on the internet are using pcd files and not doing this in real time

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answered 2022-04-25 12:11:10 -0500

Robo_guy gravatar image

Hi, I think this should be of some help to you - Using this, you can just specify your point cloud name and the frame_id in which you want to visualize the bounding boxes, in the given yaml file. Everything is done by the package so you need not do anything extra, still if you want to understand how the process is happening, you can study the code and documentation given and even make changes in it as per your required application.

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Asked: 2022-04-25 08:55:00 -0500

Seen: 101 times

Last updated: Apr 25 '22