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2019-09-13 16:52:47 -0600 marked best answer 2D PointCloud to Occupancy grid

Hi there,

I'm having trouble finding a package that does what I want. I'm using the Intel's Euclid to scan the room and I extract every possible plane with help of the PointCloud Library. I can store those planes for later inspection. What I need to do now is creating an occupancy grid, i.e. a matrix with cells that represent 1cm^2 with the probability of occupancy (0-100) I researched and found the octomap_server and the ethz-asl/grid_map package but I'm not sure they serve my purpose.

Any ideas? Thanks in advance

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2018-04-23 03:21:40 -0600 commented answer Create Occupancy Grid from Matrix

Probably yes, way too overkill :S Isn't there a faster way, like creating squares of 1cm^2 or something like that?

2018-04-20 10:15:51 -0600 asked a question Create Occupancy Grid from Matrix

Create Occupancy Grid from Matrix Hi there! I currently have a matrix with each cell representing 1cm² and a value asso

2018-04-20 10:11:44 -0600 commented answer Apply transformation matrix to existing frame

Thanks, it worked perfectly ^^

2018-04-20 10:11:28 -0600 marked best answer Apply transformation matrix to existing frame

As the title says, I have a frame, which comes by default in the Kinect, and then I calculated a 4x4 transformation matrix. How can I apply it to the existing frame?

Thanks in advance.

2018-04-20 03:20:54 -0600 commented answer Apply transformation matrix to existing frame

Thank you very much for your detailed response. I'm trying to apply everything you told me but I can't help but notice t

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2018-04-19 13:55:03 -0600 edited question Apply transformation matrix to existing frame

Apply transformation matrix to existing framee As the title says, I have a frame, which comes by default in the Kinect,

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2018-04-19 13:35:31 -0600 asked a question Apply transformation matrix to existing frame

Apply transformation matrix to existing framee As the title says, I have a frame, which comes by default in the Kinect,

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2018-04-10 02:31:39 -0600 commented answer 2D PointCloud to Occupancy grid

Thanks for your answer @gvdhoorn , but it doesn't seem to match what I'm looking for. What I have is a dataset of points

2018-04-09 11:56:49 -0600 commented answer 2D PointCloud to Occupancy grid

Inputs for Gmapping are tf (tf/tfMessage) and scan (sensor_msgs/LaserScan), and I would like to use my 2D PointCloud pla

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2018-04-09 05:32:35 -0600 asked a question 2D PointCloud to Occupancy grid

2D PointCloud to Occupancy grid Hi there, I'm having trouble finding a package that does what I want. I'm using the Int

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2018-03-10 05:13:07 -0600 commented answer Publish message after filtering subscribed topic

Thank you. That was absolutely precise and effective. It works now!

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2018-03-10 05:12:44 -0600 marked best answer Publish message after filtering subscribed topic

Hi there, I want to subscribe to a PointCloud topic, filter it and publish it later on a different topic in real time. What I have so far is this:

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);   //TODO: Avoid global variables. Is there another way?

 void subCallback(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& input){
  pcl::copyPointCloud(*input,*cloud);
  std::cerr<<"Cloud size is "<< cloud->points.size()<<std::endl;
}

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

      ros::init(argc, argv, "plane_extraction");


      //Necessary pointclouds
      pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>),
                                          cloud_projected (new pcl::PointCloud<pcl::PointXYZ>),
                                          cloud_p (new pcl::PointCloud<pcl::PointXYZ>),
                                          cloud_f (new pcl::PointCloud<pcl::PointXYZ>);
      std::vector<pcl::PointCloud<pcl::PointXYZ> > results;


      //Only one Node Handle for both subscribing and publishing
      ros::NodeHandle nh;

      //Publishers array (one for each topic). Each topic represents a segmented plane

      std::vector<ros::Publisher> publishers;

      while(ros::ok()){

            sub=nh.subscribe("/camera/depth/points", 5, subCallback);

           /*Filters and stuff
           ******************
           ******************
           ******************
           ******************/

            for(int j=0;j<i;j++){
              publishers[j].publish(results[j]);
              std:cerr<<"There are "<<j<<" publishers"<<std::endl;
            }
            ros::spinOnce();
      }

      return(0);

}

I don't know if the while(ros::ok()) spinOnce() is incorrect or what, but I don't find the way to do it. The message inside the callback appears randomly, and when it does, it gets stuck there, as if it never left the callback.

Thanks in advance.

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2018-03-09 14:02:05 -0600 commented answer Publish message after filtering subscribed topic

First of all, thank you for your response. Just to be sure to understand what you say: I should take the nh.subscribe ou

2018-03-09 12:02:58 -0600 asked a question Publish message after filtering subscribed topic

Publish message after filtering subscribed topic Hi there, I want to subscribe to a PointCloud topic, filter it and publ

2018-03-06 10:59:31 -0600 commented question Multiple publishers in a while loop

Thanks a lot for your help. It is very useful. Nonetheless, I've encountered some problems in separating the data of eac

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2018-03-05 17:09:29 -0600 commented question Multiple publishers in a while loop

Thank you for your response @lucasw , I hope I explained myself better now :D

2018-03-05 17:08:51 -0600 edited question Multiple publishers in a while loop

Multiple publishers in a while loop Hi there, I want to loop while a certain criteria is met. The main problem is that

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2018-03-05 13:03:29 -0600 asked a question Multiple publishers in a while loop

Multiple publishers in a while loop Hi there, I want to loop while a certain criteria is met. The main problem is that

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