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2016-05-12 08:49:52 -0500 asked a question How to display a cube on rviz?

I was using a PCD Visualizer, but, I changed to rviz, I was using the following command:

viewer.addCube(min_pt.x, max_pt.x, min_pt.y, max_pt.y, min_pt.z, max_pt.z, 0.0, 1.0, 0.0, "Door1");

To add a cube to the visualization, but, I don't know how to perform this on rviz, since the fact that I don't use PCD Visualizer anymore, could you guys give some help to me?

2016-05-12 07:17:07 -0500 commented question I can`t visualize a output from a PointCloud2 topic on RVIZ

It started to work, but, I don't know why, it started to show the outputs, if you ever get into this situation, try to do step by step, even the configuration of rviz, there must be something missing, so check it.

2016-05-12 07:13:08 -0500 commented answer I can`t visualize a output from a PointCloud2 topic on RVIZ

It was publishing, I don't know what happened, but, rviz started to show the output, thanks for remembering that, I'll keep checking future codes if it is publishing.

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2016-05-11 00:54:53 -0500 asked a question I can`t visualize a output from a PointCloud2 topic on RVIZ

I tried with a lot of codes, but, when I try to see the output topic from PointCloud2 on rviz it doesn't show any point cloud at all, I think there is a problem with the configuration of my RVIZ, but, I don`t know what it is, I tried to reinstall it and do the same steps again, but, it didn't work, could you guys help me?

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2016-04-27 12:51:51 -0500 asked a question Freenect substitute for pcl::OpenNIGrabber();

I'm using "pcl::OpenNIGrabber();" for creating the interface, but, I want to change it to a freenect compatible operations instead of the Openni, what can I do?

  bool new_cloud_available_flag = false;
  pcl::Grabber* interface = new pcl::OpenNIGrabber();
  boost::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
      boost::bind (&cloud_cb_, _1, cloud, &new_cloud_available_flag);
  interface->registerCallback (f);
  interface->start ();

That's the operation that I use, could you guys help me? I thought it would be something like this:

  pcl::Grabber* interface = new pcl::FreenectGrabber();

I need to do this because I'm working on a ROS system that doesn't use OpenNI, help?

2016-04-06 07:26:11 -0500 asked a question template argument deduction/substitution failed

Hello, I'm having trouble with the following function:

pcl::fromPCLPointCloud2(pcl_pc, cloud);

pcl_pc and cloud are:

pcl::PCLPointCloud2 pcl_pc;
typedef pcl::PointXYZRGBA PointT; 
typedef pcl::PointCloud<PointT> PointCloudT;
PointCloudT::Ptr cloud (new PointCloudT);

So I'm making the use of:

void cloud_cb (const sensor_msgs::PointCloud2 input) { ... }

I pass the input as a parameter to the function:

pcl_conversions::toPCL(input, pcl_pc);

No problem, and I do the operations with the "cloud" and in the end I try to use the function:

pcl::fromPCLPointCloud2(pcl_pc, cloud);

To pass the pcl_pc with the cloud's content to show what operations I've done with the code on rviz, but, I get the following error:

  fromPCLPointCloud2 (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud,
  ^
  /usr/include/pcl-1.7/pcl/conversions.h:167:3: note:   template argument deduction/substitution failed:

  /home/yooh/workspace/rosNL/src/rosNLV0.0.1.1.cpp:382:38: note:
  ‘pcl::PointCloud<pcl::PointXYZRGBA>::Ptr {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >}
  ’ is not derived from ‘pcl::PointCloud<PointT>’

   pcl::fromPCLPointCloud2(pcl_pc, cloud);
                                        ^
  In file included from /opt/ros/indigo/include/pcl_conversions/pcl_conversions.h:44:0,
  from /home/yooh/workspace/rosNL/src/rosNLV0.0.1.1.cpp:4:

  /usr/include/pcl-1.7/pcl/conversions.h:225:3: note: 
  template<class PointT> void pcl::fromPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PointCloud<PointT>&)

  fromPCLPointCloud2 (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud)
  ^
  /usr/include/pcl-1.7/pcl/conversions.h:225:3: note:   template argument deduction/substitution failed:

  /home/yooh/workspace/rosNL/src/rosNLV0.0.1.1.cpp:382:38: note:
  ‘pcl::PointCloud<pcl::PointXYZRGBA>::Ptr {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >}
  ’ is not derived from ‘pcl::PointCloud<PointT>’

   pcl::fromPCLPointCloud2(pcl_pc, cloud);
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2016-02-07 21:48:44 -0500 asked a question Indefinite planes segmentation

Hello,

I'm trying to segment walls in the best possible way, but sometimes I have 4 planes and sometimes 2 or 3 in front of my sensor. How could I segment the planes using RANSAC and set the algorithm to find the exact X number of the planes I have in front of my sensor? If I use a iterator with a fixed number of iterations sometimes the algorithm will catch small planes I don't need.

For example: If I have 4 planes, I want to find those 4 planes and stop the iterator after find those 4.

If I have only 2 I want to find those 2 and stop the iterator after find those 2.

I can use the indices to dispose some small planes I don't want, but if I use indices.size() == 0 the algorithm will cath very small planes. What is the indices.size() of a wall measuring 2m wide for 1m height?

if (inlierIndices->indices.size() == 0) { std::cout << "Could not find a plane in the scene." << std::endl; return false; }

Thanks!

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2016-01-21 03:08:07 -0500 commented answer Normal calculation and comparation of points, how to perform this?

Thank you! It is working now!

2016-01-21 02:02:21 -0500 asked a question Cluster recognition and identifying objects, trouble using SHOTColor, help?

I was using VFH for object detection, now I need some colour information about the point cloud that I will use, I don't know how to use SHOTColor properly, could you guys give me a light?

I used the following tutorial from the pointclouds.org : http://pointclouds.org/documentation/...

And I tried to make a adapted version for the SHOTColor, using only the descriptor, here it is the reference: http://docs.pointclouds.org/1.7.1/str...

Hence, how can I make a comparison of the colour information and make a tree using the FLANN to compare and identify the objects?

Specifically, the rf[9] vector of pcl::SHOT1344, any help would be much appreciated

I'm trying to do it with real time recognition using rviz

2016-01-20 11:48:48 -0500 answered a question Normal calculation and comparation of points, how to perform this?

Thanks for your reply, I tried to solve the problem using the following approach, but, my code didn't work as expected, could you help me?

for (size_t i = 0; i < filteredCloud1->points.size(); i++) 
  {
     //Radial search for estimating neighborhood indices 
     pcl::KdTreeFLANN<PointT> kdtree; 
     kdtree.setInputCloud (filteredCloud1); 
     pcl::PointXYZRGBA searchPoint = filteredCloud1->points[i]; 
     float radius = 0.03; 
     std::vector<int> pointIdxRadiusSearch; 
     std::vector<float> pointRadiusSquaredDistance; 
     kdtree.radiusSearch (searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance); 

 //Compute normal of a single point 
     float curvature; 
     Eigen::Vector4f plane_parameters; 
     computePointNormal(filteredCloud1,pointIdxRadiusSearch,plane_parameters,curvature); 


  }

I keep getting the following error: http://imgur.com/fO5CQKN

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2016-01-15 13:09:28 -0500 asked a question Normal calculation and comparation of points, how to perform this?

I have a problem do you know how to estimate a normal for a single point using the function:

computePointNormal (const pcl::PointCloud<pointint> &cloud, const std::vector<int> &indices, Eigen::Vector4f &plane_parameters, float &curvature);

How can I fill the indices?

After the normal calculation how can I compare two normals of different points and check if their pointing directions?

2016-01-15 13:09:28 -0500 commented question Cloud Normal Calculation.

After the normal calculation how can I compare two normals of different points and check if their pointing directions?

2016-01-15 13:09:27 -0500 commented question Cloud Normal Calculation.

Hello, Jarvis, I have a problem do you know how to estimate a normal for a single point using the function:

computePointNormal (const pcl::PointCloud<pointint> &cloud, const std::vector<int> &indices, Eigen::Vector4f &plane_parameters, float &curvature);

How can I fill the indices?