barcelosandre's profile - activity

Is that right if I search into pointcloud vector with this method?

I want the pointcloud index to rgb pixel h=240,w=320 (the center of rgb image).

void cloud_cb(const sensor_msgs::PointCloud2 cloud)
{
int pcl_index, rgb_h, rgb_w;
rgb_h = 240;
rgb_w = 320;
pcl_index = (h*480) + rgb_w; // result is 115520
pcl::PointCloud<pcl::pointxyz> point_pcl;
pcl::fromROSMsg(cloud,point_pcl);
std::cout << "(x,y,z) = " << point_pcl.at(pcl_index) << std::endl;
}

will it return the point in the pointcloud for the center pixel of the rgb camera?

thank you,

I want the x,y,z from real world. OpenNi has a pointcloud topic, in rviz i see a "color transform" (RGB8) option, each point is related with an pixel from the rgb camera. I just want to know how to return the specific point from pointcloud giving the rgb pixel, thus, To get the x,y,z from real world

Someone knows how to discover the pointcloud "pixel"(x,y,z in real world) giving a pixel (v,u) from RGB camera?

I am using a feature descriptor (ORB) in RGB frame (/camera/rgb/image_color) its returns the u,v from the plannar image, I want a relation of this RGB pixel (feature) to get the real world coordinate in pointcloud topic (/camera/depth_registered/points).

Someone knows how to discover the pointcloud "pixel"(x,y,z in real world) giving a pixel from RGB camera?

I am using a feature descriptor (ORB) in RGB frame (/camera/rgb/image_color) its returns the x,y from the plannar image, I want a relation of this RGB pixel (feature) to get the real world coordinate in pointcloud topic (/camera/depth_registered/points).

The solution is delete your "devel" and "build" directories, then make a "catkin_make". It will solve the problem.

I did it! I'm just waiting for an oficial solution! export ROS_ROOT=/opt/ros/groovy/share/ros export ROS_ETC_DIR=/opt/ros/groovy/etc/ros Thank you!

I did it! I'm just waiting for an oficial solution!

export ROS_ROOT=/opt/ros/groovy/share/ros

export ROS_ETC_DIR=/opt/ros/groovy/etc/ros

Thank you!

I am trying to use Eclipse with Catkin. I am having some problems with Index, for example, I have just tried to do this tutorial and Eclipse does not recognizes the index to "sensor_msgs::PointCloud2" (all these type).

I am able to compile the package into Eclipse(CTRL+B), it is working fine, my problem is with the Eclipse indexer.

My steps to make Eclipse compile catkin projects were:

cd ~/catkin_ws
$ catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_ECLIPSE_MAKE_ARGUMENTS=-j8
$ source ~/catkin_ws/devel/setup.bash
$ eclipse

File -> Import -> General -> Existing Projects into Workspace...

When I open the .cpp file, I got some errors:

Type 'sensor_msgs::PointCloud2' could not be resolved
Type 'sensor_msgs::PointCloud2ConstPtr' could not be resolved
            ...

But, how I said, I`m able to compile the package, I just have NOT the indexes for this type.

Can you guys help me to make Eclipse index this?

You should include those paths:

/usr/include/c++/4.6

/usr/include/c++/4.6/x86_64-linux-gnu

/usr/include/c++/4.6/backward

How can I change the URDF files? I have no idea how to starts with.

thank you.

1 - Creating workspace - Criando o workspace:

Choose your ROS version - Dependendo da versão do ROS(a ou b), pode-se fazer em diretórios separados:

a) ROS Fuerte:

rosws init ~/ros-fuerte /opt/ros/fuerte

b) ROS Groovy

rosws init ~/ros-groovy /opt/ros/groovy

3 - Bring ROSAria into workspace - Liberando o workspace criado para o ROSAria

cd ~/ros-<distro>
rosws set --hg amor-ros-pkg https://amor-ros-pkg.googlecode.com/hg
rosws update

4 - Setting up the new workspace - Para configurar o workspace novo, precisamos rodar o script setup.bash

cd ~/ros-<distro>
source ./setup.bash

5 - Checking if download was correctly - Para confirmar que o download foi feito:

rospack profile

6 - Checking if ROS recognize the package - Checando se o ROS reconhece o pacote:

rospack find ROSARIA

7 - Building the package - Compilando o pacote:

sudo rosdep init
rosdep update
rosdep install ROSARIA
rosmake ROSARIA

1 - Creating workspace - Criando o workspace:

rosws init ~/ros/opt/ros/fuerte

2 - Choose your ROS version - Dependendo da versão do ROS(a ou b), pode-se fazer em diretórios separados:

a) ROS Fuerte:

rosws init ~/ros-fuerte/opt/ros/fuerte

b) ROS Groovy

rosws init ~/ros-groovy/opt/ros/groovy

3 - Seting up the new workspace - Para configurar o workspace novo, precisamos rodar o script setup.bash

cd ~/ros source ./setup.bash

4 - Bring ROSAria into workspace - Liberando o workspace criado para o ROSAria PLEASE TAKE OFF THE "_" UNDERLINE CHARACTER BEFORE RUN THE SECOND COMMAND(I HAVE NO ENOUGH KARMA TO POST LINKS)

RETIRE O CARACTER "_" UNDERLINE ANTES DE RODAR O SEGUNDO COMANDO(EU NÃO TENHO KARMA SUFICIENTE PARA POSTAR LINKS)

cd ~/ros hg clone https:_//amor-ros-pkg.googlecode.com/hg/ amor-ros-pkg

5 - Checking if download was correctly - Para confirmar que o download foi feito:

rospack profile

6 - Checking if ROS recognize the package - Checando se o ROS reconhece o pacote:

rospack find ROSARIA

7 - Biulding the package - Compilando o pacote:

sudo rosdep init

rosdep update

rosdep install ROSARIA

rosmake ROSARIA

I'm having problem when I run roslocate from installing tutorial