robojoe's profile - activity

I noticed a potential bug (minor) in the indigo shadow build of the openni2_camera. The encoding published in the topic appears to be "rgb8" but I think in reality the encoding is "bgr8". I would submit a bug report but can someone verify this first? Note: image_view still shows the correct encoding (but I think that is because it falls back to the opencv default "bgr8" and isn't using the encoding published in the topic message).

The piece of code I'm using to get the error is:

cv_bridge::CvImageConstPtr cv_ptr_rgb;<p>
cv_ptr_rgb = cv_bridge::toCvShare(rgb_msg_in, rgb_msg_in->encoding);

If I replace the second line with the following it works properly:

cv_ptr_rgb = cv_bridge::toCvShare(rgb_msg_in, "bgr8");

The comments above are correct; this is best asked on pcl-users.

Hi,

I'm not sure if I should ask this here or in the PCL mailing list but I'll ask here anyways.

I am trying to use kdtree_flann to match narf descriptors. I am extracting the descriptors in a similar way to the NARF PCL tutorial. The problem is when I try perform the NN search between two pointclouds (pointcloud A added as the input and point cloud B used as the query), all the features in B match to the same feature in A. The distances reported by kdtree are all 0 (zero).

• I noticed that narf36 has a {x,y,z,roll,pitch,yaw} value which are all 0 (zero) for my features, is this why all my distances are zero when kdtree performs its search?

The .descriptor values themselves are different for each feature in A and B. I would have expected that kdtree would use the Narf::getDescriptorDistance function or something similar to compute the distances.

• Does anyone know what distance metric it uses when you provide the PointCloud< Narf36 > as the data type to kdtree?
• And is there a way to change this (to maybe even a custom distance function)?

Thanks in advance, - Joe