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2014-01-28 17:22:43 -0500 marked best answer How do I combine registration with clustering?

Hi,

I am using the kinect and searching for one or more objects on a table. That works fine for me. Now I want to change the position of the kinect i.e. move it partly around the object and again search the objects lying on the table and then combine both object point clouds. The result of that should be that I get more point of an object (from different viewpoints) or in other word i will just remember the points I saw before. Is there a way to do that with pcl::registration? And do I have to use the registration algorithms before I cluster the objects or am I able to do it after clustering with only the few points I get from an object.

Thanks Stefan

2014-01-28 17:22:13 -0500 marked best answer openni_camera depth image opencv

Hi

I am Using opencv 2.2 and cv::bridge out of the ros diamondback deb packages. I changed the Makefile of opencv to get a newer version of opencv (Revision 5427)

I convert the const sensor_msgs::ImageConstPt to cv_bridge::CvImagePtr with

cv_ptr_depth_ = cv_bridge::toCvCopy(depth_image_msgs, sensor_msgs::image_encodings::TYPE_32FC1);

With cv::VideoWriter I want to store the depth image as an avi file. That works fine for the rgb image that is converted to sensor_msgs::image_encodings::BGR8 but not for the depth image. The cv::VideoWriter needs images with depth = IPL_DEPTH_8U and nChannels = 1.

But I cannot convert the 32FC1 type in 8UC1

How can I handle this problem?

Thanks Stefan

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2012-09-27 09:02:43 -0500 marked best answer simulating kinect sensor in Gazebo

I want to use the input from a kinect in simulation. I use ROS and therefor I think the best way is to use gazebo for simulation. Is there a way to simulate the kinect input data in gazebo?

Thanks for help

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2012-05-12 02:03:18 -0500 commented answer rosmake perception_pcl after change of pcl source

That works!

2012-05-12 02:03:16 -0500 commented answer rosmake perception_pcl after change of pcl source

That works! Thanks

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2012-05-10 11:26:45 -0500 answered a question rosmake perception_pcl after change of pcl source

Thanks for your answer!

Thats the error I get: I thinks that has something to do with the reimplementation of sensor_msgs in pcl. That files will be deleted in the Makefile of perception_pcl/pcl/

Linking CXX shared library ../lib/libpcl_visualization.so
/usr/bin/ld: cannot find -lsensor_msgs
collect2: ld returned 1 exit status
make[2]: * [lib/libpcl_visualization.so.1.6.0] Error 1
make[1]:
[visualization/CMakeFiles/pcl_visualization.dir/all] Error 2
make: *
* [all] Error 2

Thanks Stefan

2012-05-09 23:52:33 -0500 asked a question rosmake perception_pcl after change of pcl source

Hi,

I use the source based installed version of pcl-trunk (perception_pcl_electric_unstable). I changed some visualization functions and want to compile them. Is there a way to compile only the changed part of pcl or do I need compile everything with

rosmake pcl --pre-clean?

It would save me a lot of time!

Thanks a lot

Stefan

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2012-05-04 04:08:05 -0500 commented question running Asus Xtion Pro Live under ros electric fails

But the output looks correct

2012-05-04 03:58:20 -0500 commented question running Asus Xtion Pro Live under ros electric fails

I recompiled everything including the perception_pcl_unstable_electric and the above mentioned version of openni_ros (Revision 408) and than it runs. There are some warning and errors while init openni_camera (run roslaunch openni_launch openni.launch) that says the calibration files are not found.

2012-04-25 00:06:09 -0500 answered a question checkout openni_ros for electric source installed

I found the solution. On the linked website the revision number is displayed and then I did:

hg clone -r 477 https://kforge.ros.org/openni/openni_ros

2012-04-25 00:02:26 -0500 asked a question running Asus Xtion Pro Live under ros electric fails

I did a source based installation of ros electric as described here:

http://www.ros.org/wiki/electric/Installation/Ubuntu/Source

The reason for that is the usage of PCL 1.6. For that I changed the .rosinstall file with the following line:

that compiles fine ros electric and the trunk of PCL (1.6).

Now I need to install the openni_kinect package with is now called openni_ros, right?

I checked out the electric version of the package that I found under:

https://kforge.ros.org/openni/openni_ros/file/54e88dc504ba

with:

hg clone -r 408 https://kforge.ros.org/openni/openni_ros

That compiles fine as well.

But if I want to launch the Xtion Pro Live with:

roslaunch openni_launch openni.launch

the process is dying.

Did I compile wrong versions? Or is there a better way to use ros pcl 1.6 and the Asus Xtion?

Thanks for your help

2012-04-20 05:00:02 -0500 asked a question checkout openni_ros for electric source installed

Is there a way to checkout the openni_ros package for a source installed electric ros version?

https://kforge.ros.org/openni/openni_ros/file/1f99fa033d83/

is the package I want.

I needed to install the electric version with the source to use the pcl-trunk.

Now I want to install the openni_ros package to run my asus xtion sensor.

Thanks Stefan