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Incorrect laser_geometry PointCloud2 fields [closed]

asked 2012-09-17 09:54:01 -0500

jdlangs gravatar image

updated 2014-01-28 17:13:40 -0500

ngrennan gravatar image

The current laser_geometry package fails to set the 'count' members of sensor_msgs::PointCloud2::fields in projectLaser(). When using PCL 1.6 (not 1.5!) this causes incompatibility when converting PointCloud2s created from the laser package to native PCL pointclouds.

I wouldn't mind sending in a proposed patch sometime later but it isn't exactly spelled out how to go about contributing to official stacks.

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Closed for the following reason the question is answered, right answer was accepted by jdlangs
close date 2017-11-21 11:11:37.959760

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Could you please clarify what you mean by 'count' field? Is it missing a 'channel', such as x or intensity? Are the settings for point.step or row.step incorrect? Are the height and width incorrect?

Chad Rockey gravatar image Chad Rockey  ( 2012-09-17 17:24:01 -0500 )edit

It's the 'count' member which is within each channel. (http://ros.org/doc/api/sensor_msgs/html/msg/PointField.html) If it's not set, it defaults to zero, and pcl 1.6 assumes non-zero counts in each channel.

jdlangs gravatar image jdlangs  ( 2012-09-18 05:37:09 -0500 )edit

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answered 2012-09-17 11:45:11 -0500

If you submit a ticket at code.ros.org and attach the patch, the maintainers should integrate it eventually.

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Do ros answers credentials work there?

jdlangs gravatar image jdlangs  ( 2012-09-17 12:41:32 -0500 )edit

No, you must create a separate account.

Eric Perko gravatar image Eric Perko  ( 2012-09-17 17:14:57 -0500 )edit

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Asked: 2012-09-17 09:54:01 -0500

Seen: 168 times

Last updated: Sep 17 '12