ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

How to use pcl::registration::estimateRigidTransformation?

asked 2011-03-01 23:01:09 -0500

I'm trying to register two pointclouds gathered with Kinect. The two pointclouds are of type PointXYZRGB and are pre-aligned. From the signature of the function I assumed the following usage:

pcl::PointCloud<pcl::PointXYZRGB> A, B; // imagine these to be the input clouds, where A should be aligned to B
pcl::registration::TransformationEstimation<pcl::PointXYZRGB,pcl::PointXYZRGB> MyEstimation;
Eigen::Matrix4f T; // the result transformation
MyEstimation.estimateRigidTransformation( A, B, T );

This crashes in Ubuntu 10.10 x64 using diamondback with an assertion in Eigen:

Eigen::ProductBase<Derived, Lhs, Rhs>::ProductBase(const Lhs&, const Rhs&) [with Derived = Eigen::GeneralProduct<Eigen::Matrix<float, -0x00000000000000001, -0x00000000000000001, 0, -0x00000000000000001, -0x00000000000000001>, Eigen::Transpose<Eigen::Matrix<float, -0x00000000000000001, -0x00000000000000001, 0, -0x00000000000000001, -0x00000000000000001> >, 5>, Lhs = Eigen::Matrix<float, -0x00000000000000001, -0x00000000000000001, 0, -0x00000000000000001, -0x00000000000000001>, Rhs = Eigen::Transpose<Eigen::Matrix<float, -0x00000000000000001, -0x00000000000000001, 0, -0x00000000000000001, -0x00000000000000001> >]: Assertion `lhs.cols() == rhs.rows() && "invalid matrix product" && "if you wanted a coeff-wise or a dot product use the respective explicit functions"' failed.

So I'm not sure what's going wrong? Am I using the registration wrong? The pointclouds are okay, as I can concatenate and display them fine without this fine registration.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2011-03-02 16:04:25 -0500

tfoote gravatar image

This sounds like you should submit a ticket. There's a link to submit tickets on the preception_pcl wiki page

edit flag offensive delete link more

Question Tools


Asked: 2011-03-01 23:01:09 -0500

Seen: 2,224 times

Last updated: Mar 02 '11