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2020-04-20 04:49:52 -0500 asked a question Implementing a Gaussian Filter in PCL

Implementing a Gaussian Filter in PCL Hi All I have a point cloud that needs some smoothing, and I'd like to use the Ga

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2020-03-27 10:25:50 -0500 commented question What is the `/gazebo/model_state` topic?

And you're sure that all these object are individual models in gazebo, and not just individual links in one model? Becau

2020-03-27 04:08:12 -0500 edited question Code for processing point cloud is slow

Code for processing point cloud is slow Hi All I have a follow up to my question that I asked over here : https://answe

2020-03-27 03:38:42 -0500 commented question What is the `/gazebo/model_state` topic?

Just to be clear, what do you mean by objects? Are links missing in your model when you access the model_state message?

2020-03-27 03:34:46 -0500 marked best answer Point Cloud Filtering and processing using PCL is slow

Hi All

I have code for a ROS node that subscribes to A PointCloud2 topic published by iai_kinect2's kinect bridge. My problem is that the code runs quite slowly. I have narrowed down the slowing-down to my spinOnce() statement, so I'm pretty sure it's my callback function that's being slow. However, my callback is using the reccommended way of converting the pc2 message into a PCL point cloud. Here it is for reference:

void cloudCallback(const sensor_msgs::PointCloud2ConstPtr& msg){
  // Create a container for the data.
  pcl::PCLPointCloud2 pcl_pc2;
  pcl_conversions::toPCL(*msg,pcl_pc2);
  pcl::fromPCLPointCloud2(pcl_pc2,*cloud);

  pcl::removeNaNFromPointCloud(*cloud,*outputCloud, indices);

  sor.setInputCloud(outputCloud);
  sor.setLeafSize (0.01f, 0.01f, 0.01f);
  sor.filter (*outputCloudFilt);
}

All the objects used here were pre-initialised before main(). The code runs just as slowly if I remove the filtering from the callback.

I should also add that the speed is slow independently of how many points are in the cloud.

EDIT: Using fromROSMsg() doesn't help with my problem.

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2020-03-26 12:07:17 -0500 commented question Code for processing point cloud is slow

Done. Sorry. That I'm frustrated by my problem is no one else's fault but mine.

2020-03-26 12:06:07 -0500 edited question Code for processing point cloud is slow

Code for processing point cloud is slow Hi All I have a follow up to my question that I asked over here : https://answe

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2020-03-26 10:35:55 -0500 asked a question Code for processing point cloud is slow

Code for processing point cloud is slow Hi All I have a follow up to my question that I asked over here : https://answe

2020-03-25 14:18:00 -0500 commented answer Point Cloud Filtering and processing using PCL is slow

Oooh I just got what you're trying to ask. No it's just my application code. I didn't recompile the binaries for PCL or

2020-03-25 03:26:58 -0500 commented answer Point Cloud Filtering and processing using PCL is slow

I just turned it on for the entirety of the packages in my src/ folder.

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2020-03-24 13:44:14 -0500 answered a question Point Cloud Filtering and processing using PCL is slow

Thanks @gvdhoorn turning on compiler optimisation gives me speeds more in line with what I expect (~20-30Hz, and actuall

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2020-03-24 13:41:08 -0500 commented question Point Cloud Filtering and processing using PCL is slow

Yeah fair enough. I meant that my code was running at like 0.1Hz, which is way slower than you would actually expect.

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2020-03-24 11:19:00 -0500 edited question Point Cloud Filtering and processing using PCL is slow

Point Cloud Filtering and processing using PCL is slow Hi All I have code for a ROS node that subscribes to A PointClou

2020-03-24 09:25:41 -0500 asked a question Point Cloud Filtering and processing using PCL is slow

Point Cloud Filtering and processing using PCL is slow Hi All I have code for a ROS node that subscribes to A PointClou