ZsurzsaLaszlo's profile - activity

I compiled PCL from source now I can't use ros msgs so I wanted to use this package. Although it compiles everything. #include <pcl_conversions pcl_conversions.h=""> gives me error. I hope you can help me with this. I use FUERTE.

Hey, I try to do the same thing as shown here. The difference is that I'm doing it for fuerte. I did compile pcl_conversions but I can't load it in my code. How did you proceed in youre case?

I now that I have to map the outputs of the PMD camera, and also that there is a ROS package for this. "focal length" - is this a parameter of kinfu?

Could you specify a bit more in detail? I've started a new thread : http://answers.ros.org/question/90431/kinfu-with-pmd-camboard-nano/ I'm really trying to fix this problem.

Problem

I wan't to use kinfu with my miniTOF camera (model: PMD Camboard Nano). I set up everything and kinfu works with Kinect.

Solution!?

Tweak openni_launch package to somehow start my camera or remap my camera outputs to the openni's one in order that I can use with the kinfu algorithm.

If you need more information just ask, don't simply vote down.

Post ideas, solution anything that can be useful. The question is not trivial.

Ok. Is it possbile to tweak it to use it not only with Kinect?

@MichaelKorn this link that you provided with the kinfu, this is a simplified version of the kinfu_app? I'm working on my own version of refactored kinfu_app that would enable me to usi it wit a pmd Camboard nano / miniTOF Camera ...

This is my CMakeLists.txt:

# set variable name that we will use in continue ...
set(the_target mini_tof_gui)

# Boost, Eigen, VTK liking
find_package(Boost COMPONENTS system filesystem REQUIRED)
find_package(Eigen REQUIRED) 
find_package(VTK REQUIRED)

# VTK, Eigen include
INCLUDE(${VTK_USE_FILE})
include_directories(${VTK_INCLUDE_DIRS})
include_directories(${Eigen_INCLUDE_DIRS}) 
include_directories(${EIGEN_INCLUDE_DIRS}) 
include_directories(${OPENNI_INCLUDE_DIRS})   

##############################################################################
# Binaries
##############################################################################

rosbuild_add_executable(${the_target} ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
target_link_libraries(${the_target} ${OPENNI_LIBRARIES})  
target_link_libraries(${the_target} ${QT_LIBRARIES})
target_link_libraries(${the_target} ${Boost_FILESYSTEM_LIBRARY} ${Boost_SYSTEM_LIBRARY} ) 
target_link_libraries(${the_target} tof_object_segm)
target_link_libraries(${the_target} vtkCommon vtkFiltering vtkRendering)
target_link_libraries(${the_target} pcl_features pcl_io pcl_2d pcl_people pcl_kdtree pcl_registration pcl_recognition pcl_tracking pcl_stereo pcl_filters pcl_common pcl_visualization pcl_octree pcl_sample_consensus pcl_keypoints pcl_ml pcl_segmentation pcl_surface pcl_io_ply pcl_search pcl_gpu_kinfu)

I'm trying to connect kinfu headers to my project. What can be the problem?

Checkout pcl17 and pcl17_ros packages as suggested by others. Linekd the libfiles and now I get this message.

[100%] Building CXX object CMakeFiles/minitof_listener.dir/src/main.o In file included from /home/crops_laszlo/fuerte_workspace/sandbox/fuerte-unstable-devel/pcl17/include/pcl-1.7/pcl17/io/pcd_io.h:43:0,from /home/crops_laszlo/fuerte_workspace/sandbox/minitof_listener/src/main.cpp:3: /home/crops_laszlo/fuerte_workspace/sandbox/fuerte-unstable-devel/pcl17/include/pcl-1.7/pcl17/point_cloud.h:46:27: fatal error: Eigen/StdVector: No such file or directory compilation terminated.

make[2]: * [CMakeFiles/minitof_listener.dir/src/main.o] Error 1

make[1]: * [CMakeFiles/minitof_listener.dir/all] Error 2

-------------------------------------------------------------------------------}

Linking the libraries: target_link_libraries(minitof_listener pcl17_features pcl17_io pcl17_2d pcl17_people pcl17_kdtree pcl17_registration pcl17_recognition pcl17_tracking pcl17_stereo pcl17_filters pcl17_common pcl17_visualization pcl17_octree pcl17_sample_consensus ... etc. )

I could compile the package but I could not yet link it to another project. Maybe some suggestions? In the cmake file everything works fine.

You downloaded and used rosmake if I'm correct yes? Why I have the same problem. I tried to compile it from source but had many problems. Then I downloaded the package that you have but have the same error.

I try you're version and come back if it works. The other suggestions did not work for me. So compiling from source and installing that one. (The ones mentioned under this post. Also the documentation is a bit less in case an error happens)

(karma!?) I googled but nothing usefull. Can you be more precise?

I get the following error when i follow the commands from the website:

////////////////////////////////////////////////////////////////////////

ERROR

////////////////////////////////////////////////////////////////////////

[ 16%] Building CXX object io/CMakeFiles/pcl_io.dir/src/image_grabber.cpp.o /home/crops_laszlo/fuerte_workspace/sandbox/pcl/io/src/image_grabber.cpp: In member function ‘bool pcl::ImageGrabberBase::ImageGrabberImpl::getCloudVTK(size_t, sensor_msgs::PointCloud2&, Eigen::Vector4f&, Eigen::Quaternionf&) const’: /home/crops_laszlo/fuerte_workspace/sandbox/pcl/io/src/image_grabber.cpp:634:34: error: no match for ‘operator=’ in ‘cloud_color.pcl::PointCloud<pcl::pointxyzrgba>::header.std_msgs::Header_<std::allocator<void> >::stamp = timestamp’ /home/crops_laszlo/fuerte_workspace/sandbox/pcl/io/src/image_grabber.cpp:634:34: note: candidate is: /opt/ros/fuerte/include/ros/time.h:169:22: note: ros::Time& ros::Time::operator=(const ros::Time&) /opt/ros/fuerte/include/ros/time.h:169:22: note: no known conversion for argument 1 from ‘uint64_t {aka long unsigned int}’ to ‘const ros::Time&’ /home/crops_laszlo/fuerte_workspace/sandbox/pcl/io/src/image_grabber.cpp:670:28: error: no match for ‘operator=’ in ‘cloud.pcl::PointCloud<pcl::pointxyz>::header.std_msgs::Header_<std::allocator<void> >::stamp = timestamp’ /home/crops_laszlo/fuerte_workspace/sandbox/pcl/io/src/image_grabber.cpp:670:28: note: candidate is: /opt/ros/fuerte/include/ros/time.h:169:22: note: ros::Time& ros::Time::operator=(const ros::Time&) /opt/ros/fuerte/include/ros/time.h:169:22: note: no known conversion for argument 1 from ‘uint64_t {aka long unsigned int}’ to ‘const ros::Time&’ /home/crops_laszlo/fuerte_workspace/sandbox/pcl/io/src/image_grabber.cpp: In member function ‘bool pcl::ImageGrabberBase::ImageGrabberImpl::getCloudPCLZF(size_t, sensor_msgs::PointCloud2&, Eigen::Vector4f&, Eigen::Quaternionf&, double&, double&, double&, double&) const’: /home/crops_laszlo/fuerte_workspace/sandbox/pcl/io/src/image_grabber.cpp:765:34: error: no match for ‘operator=’ in ‘cloud_color.pcl::PointCloud<pcl::pointxyzrgba>::header.std_msgs::Header_<std::allocator<void> >::stamp = timestamp’ /home/crops_laszlo/fuerte_workspace/sandbox/pcl/io/src/image_grabber.cpp:765:34: note: candidate is: /opt/ros/fuerte/include/ros/time.h:169:22: note: ros::Time& ros::Time::operator=(const ros::Time&) /opt/ros/fuerte/include/ros/time.h:169:22: note: no known conversion for argument 1 from ‘uint64_t {aka long unsigned int}’ to ‘const ros::Time&’ /home/crops_laszlo/fuerte_workspace/sandbox/pcl/io/src/image_grabber.cpp:810:28: error: no match for ‘operator=’ in ‘cloud.pcl::PointCloud<pcl::pointxyz>::header.std_msgs::Header_<std::allocator<void> >::stamp = timestamp’ /home/crops_laszlo/fuerte_workspace/sandbox/pcl/io/src/image_grabber.cpp:810:28: note: candidate is: /opt/ros/fuerte/include/ros/time.h:169:22: note: ros::Time& ros::Time::operator=(const ros::Time&) /opt/ros/fuerte/include/ros/time.h:169:22: note: no known conversion for argument 1 from ‘uint64_t {aka long unsigned int}’ to ‘const ros::Time&’ make[2]: * [io/CMakeFiles/pcl_io.dir/src/image_grabber.cpp.o] Error 1 make[1]: [io/CMakeFiles/pcl_io.dir/all] Error 2 make: ** [all] Error 2

Can someone understand what's the problem? Waht should I change?

Give me error:

I found I linked but it seems eigen lib is missing at compilaton.

blueskin, can you provide some tutorial links.If ti's possible then in C++ would be nicer.

have you figure out the error?

Example message type :

Request : //request feature's 308 variables!

float64[308] features

Response : //response Contains object type!

int64 object_type

After compiling with success all of this and the .cpp code. How do i access the float array ? There is some confusing code because the array created, that can be accessed in eclipse is like : <double, allocator<double="">>

Help needed! Thanks!