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2011-05-23 13:08:43 -0500 | answered a question | How to segment/extract a sphere using pcl_ros? I don't have a lot of experience with ROS nodelets, but I think I can help a little bit in this case. I believe the sphere segmentation algorithm is expecting surface normals in addition to to the 3D points. Try adding another nodelet and setting it as the "normals" input for your segmentation filter, like this: I don't really have a good set-up for testing this, so I'm not sure if the parameters I picked will work under your conditions, but this will at least get the segmentation node to return something. Hope this helps. |