VicL's profile - activity

Hi I am looking to mount the kinect on a robot and it will be tilted at about 45 degrees towards the floor. I want to add the inital offset of 45 degree to the initial pose of the camera. Would like to know which part of the code should I look at?

sudo apt-get remove ros-* would be more extensive!

Which CMakeLists.txt would that be? is it the one at /tmp/pcl_ws/src/flann?

Hmm I did not do anything for this part of the patch:

diff --git a/cmake/pcl_find_ros.cmake b/cmake/pcl_find_ros.cmake index cf2e1e3..b426066 100644 --- a/cmake/pcl_find_ros.cmake +++ b/cmake/pcl_find_ros.cmake

Is there something to edit in this part?

any help?thanks in advance!

Hi I had an error here: [ 87%] Built target flann_s

CalledProcessError: Command '/tmp/pcl_ws/install_isolated/env.sh make -j8 -l8' returned non-zero exit status 2 <== Failed to process package 'flann': Command '/tmp/pcl_ws/install_isolated/env.sh make -j8 -l8' returned non-zero exit status 2

it works! thanks Philip!

I placed

clusteredScene->header.frame_id = "my_frame"

before

clusterPub.publish(*clusteredScene);

and broadcasted the transformation with parent frame as "camera_depth_optical_frame" and child frame as "clusteredScene_frame"

Hi all! I used "roslaunch openni_launch openni.launch" and I am trying to subscribe to the "/camera/depth/points" of pointcloud2 datatype, do something to it in the callback function, which is a member function, and then publish it to rviz.

Problem that I am facing is regarding the fixed and target frames under global options of rviz. All the available frames do not work.

I am receiving this error:"For frame[]: Frame[] does not exist" under "Transform[sender=/MyNodeName]" under "Status:Error" under "PointCloud2" of Rviz.

I believe I need to subscribe to the tf of the camera and publish it in my program, and rviz will use the publish frame as the fixed frame, and the processed point cloud can be visualised.

Not sure how to do this though, or if this is even the coorect approach. Appreciate any help thx! I a on Ubuntu 12.04, fuerte btw!

My source code is as below.

void 
Listener::callback (const sensor_msgs::PointCloud2::ConstPtr& input)
{
    boost::mutex::scoped_lock lock (mtx_);

    pcl17::fromROSMsg(*input, *scene);

            //did some EuclideanClusterExtraction 

    pcl17::toROSMsg(*cloud_cluster, *clusteredScene);
    clusterPub.publish(*clusteredScene);
}

int main (int argc, char** argv)

{

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

ros::NodeHandle nh;

Listener listener;

ros::Subscriber sub = nh.subscribe ("/camera/depth/points", 1000, &Listener::callback, &listener);

clusterPub = nh.advertise<sensor_msgs::pointcloud2> ("="" cluster",="" 1000);<="" p="">

ros::spin ();

}

my package is in ~/fuerte_workspace/ btw!

"cat: /opt/ros/fuerte/stacks/perception_pcl/pcl/vtk_include_dirs.txt: No such file or directory".

rosmake pcl didnt show any errors.

Should I have deleted the perception_pcl stack at /opt/ros/fuerte/stacks?

Bythe way, what do you mean by redo VTK? Where shld the source file be at?

Hi Jiayi, when i modified "cmake -P ${prefix}/vtk_include.cmake" lflags="-Lcmake -P ${prefix}/vtk_library.cmake" to "cat ${prefix}/vtk_include_dirs.txt" lflags="-Lcat ${prefix}/vtk_library_dirs.txt", this is what I got (next comment!)

Hi!

Is there a way to use openni-dev and ps-engine packages with rgbdslam_freiburg?

There is a conflict with the file openni_launch.

openni_launch is used by rgbdslam, but when the newer openni-dev is installed, openni_launch and openni_camera need to be uninstalled.

How can I modify any files to use rgbdslam with the newer openni-dev and ps-engine?

Thanks in advance!!

Hi, I am having trouble saving the whole map as seen in the gui of rgbdslam. I need the whole map for path planning. I created a node that listens to /rgbdslam/batch_clouds topic and data were flowing in successfully, as Rviz displays.

I want to perform a planar segmentation and obtain the floor as described in this tutorial:http pointclouds.org documentation tutorials extract_indices.php #extract-indices

The relevant part of the code in this tutorial were placed in the call back function (the function for processing rostopic data as described in ros tutorials) of my program.

And then after I ran my program, where I saved the output to a pcd file and view it via pcd_viewer, only the floor of the last captured frame is displayed, but not the whole map.

The write function (which saves the point cloud into the pcd file) is carried out within the call back function of my program which should be the cause of the problem. Where should I put the write function so that it saves not the last frame but the whole map? Or am I looking at this problem wrongly?

An option would be to save the map as an octomap (.ot extension) using the options avaiable in the gui. I could view the whole map on octovis. But the documentation for octomap is rather poor and I do no know how to manipulate the data to get the floor which I need for path planning.

I am also not sure how to read .ot files and convert them to pointcloud data; not much info can be found regarding ".ot" files.

I have considered a solution in here, but my camera will be place 45 degrees towards the floor, so this solution is insufficient.

Thanks in advance!

nice! press the "save" button under "data" to save a .pcd file in the default dir but theres nothing published on /rgbdslam/aggregate_clouds

I could open the file and get the floor plane out of the full map, and use

rosrun pcl_ros pcd_to_pointcloud <file.pcd> [ <interval> ]

to publish for rviz