Gurj's profile - activity

I am trying to apply some filters and euclidean clustering to input from a Kinect sensor. Currently I am using a piece of code that calls in the "table_scene_lms400.pcd" but I would like to know how I can use input from a Kinect sensor rather than this .pcd file? I would also like to view the results in RVIZ? I know this involves subscribers and publishers and despite numerous attempts using tutorials, etc. I have not been able to accomplish this so was wondering if anybody has any code to do the above or could edit my own code/give me some tips to help me? I have included my code below. (I have tried following most online tutorials and guides but I am still struggling so any help would be greatly appreciated)

#include <ros/ros.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

ros::Publisher pub;

int 
main (int argc, char** argv)
{

  ros::init(argc, argv, "perception_node");
  ros::NodeHandle nh;


  // Read in the cloud data
  pcl::PCDReader reader;
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>), cloud_f (new pcl::PointCloud<pcl::PointXYZ>);
  reader.read ("table_scene_lms400.pcd", *cloud);
  std::cout << "PointCloud before filtering has: " << cloud->points.size () << " data points." << std::endl; //*

  // Create the filtering object: downsample the dataset using a leaf size of 1cm
  pcl::VoxelGrid<pcl::PointXYZ> vg;
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);
  vg.setInputCloud (cloud);
  vg.setLeafSize (0.01f, 0.01f, 0.01f);
  vg.filter (*cloud_filtered);
  std::cout << "PointCloud after filtering has: " << cloud_filtered->points.size ()  << " data points." << std::endl; //*

  // Create the segmentation object for the planar model and set all the parameters
  pcl::SACSegmentation<pcl::PointXYZ> seg;
  pcl::PointIndices::Ptr inliers (new pcl::PointIndices);
  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_plane (new pcl::PointCloud<pcl::PointXYZ> ());
  pcl::PCDWriter writer;
  seg.setOptimizeCoefficients (true);
  seg.setModelType (pcl::SACMODEL_PLANE);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setMaxIterations (200);
  seg.setDistanceThreshold (0.02);

  int i=0, nr_points = (int) cloud_filtered->points.size ();
  while (cloud_filtered->points.size () > 0.3 * nr_points)
  {
    // Segment the largest planar component from the remaining cloud
    seg.setInputCloud (cloud_filtered);
    seg.segment (*inliers, *coefficients);
    if (inliers->indices.size () == 0)
    {
      std::cout << "Could not estimate a planar model for the given dataset." << std::endl;
      break;
    }

    // Extract the planar inliers from the input cloud
    pcl::ExtractIndices<pcl::PointXYZ> extract;
    extract.setInputCloud (cloud_filtered);
    extract.setIndices (inliers);
    extract.setNegative (false);

    // Get the points associated with the planar surface
    extract.filter (*cloud_plane);
    std::cout << "PointCloud representing the planar component: " << cloud_plane->points.size () << " data points." << std::endl;

    // Remove the planar inliers, extract the rest
    extract.setNegative (true);
    extract.filter (*cloud_f);
    *cloud_filtered = *cloud_f ...