Pointcloud from stereo camera is not organized

Issue #14 resolved
Ryohei Ueda
created an issue

pointcloud from stereo camera is not organized and it can be organized in 2-D array order.

Around these lines https://bitbucket.org/crl/multisense_ros/src/7df19737b06792334978832fdd71583e7e71cfc4/multisense_ros/src/camera.cpp?at=default#cl-167

Comments (13)

  1. Matt Alvarado

    Hello Ryohei,

    We just released a update to the ROS driver which includes you request for organized point clouds.

    Please let us know if you find any issues with the implementation.

    Thanks,
    Matt Alvarado
    Engineer
    Carnegie Robotics

  2. Matt Alvarado

    Hello Ryohei,

    I merged your change into our internal development repository. The change was included in our 3.3 release yesterday. Sorry about the confusion.

    Thanks,
    Matt Alvarado
    Engineer
    Carnegie Robotics

  3. Dimitrios Kanoulas

    There is still an issue with the published organized point cloud. According to http://pointclouds.org/documentation/tutorials/basic_structures.php the width in an organized cloud specifies the total number of points in a row (not the total number of points in the cloud as it happens now in the code). Also for the organized points the height should specify the number of points in a column, and should not be 1. Also the variable is_dense should be set to 0 (false) since there are NaN's in the cloud. I am not sure if this happens in the code.

  4. Matt Alvarado

    Hello Dimitrios,

    The most recent release of the ROS driver should have these issues fixed for organized point clouds.

    Please don’t hesitate to let us know if you find any other issues with the organized point cloud publishing.

    Thanks,
    Matt Alvarado
    Engineer
    Carnegie Robotics

  5. Dimitrios Kanoulas

    Thanks a lot Matt --

    organized clouds are really important for multiple reasons (i.e. better compressions, avoiding backprojections, etc), so I look forward for the fixes. Thanks again!

  6. Ryohei Ueda reporter

    Hi Dimitrios,

    All the fields are correctly set with the latest code.

    $ hg summary
    parent: 35:3713713cf0b7 tip
     Added tag 3.3.1 for changeset 6a5d0d1ddd4c
    branch: default
    commit: 1 modified, 2 unknown
    update: (current)
    $ rostopic echo /multisense/organized_image_points2_color/width -n 1
    1024
    ---
    $ rostopic echo /multisense/organized_image_points2_color/height -n 1
    544
    ---
    $ rostopic echo /multisense/organized_image_points2_color/is_dense -n 1
    False
    ---
    $ rostopic echo /multisense/organized_image_points2_color/fields -n 1
    
    - 
      name: x
      offset: 0
      datatype: 7
      count: 1
    - 
      name: y
      offset: 4
      datatype: 7
      count: 1
    - 
      name: z
      offset: 8
      datatype: 7
      count: 1
    - 
      name: rgb
      offset: 12
      datatype: 7
      count: 1
    ---
    
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