point-cloud-library

问题 I need to find the transformation and rotation difference between two 3d point clouds. For this I am looking at PCL, as it seems ideal. On clean test data I have Iterative closest point working, but giving strange results(although I may have implemented it incorrectly...) I have pcl::estimateRigidTransformation working, and it seems better, although I assume will deal worse with noisy data. My question is: The two clouds will be noisy, and although they should contain the same points, there

问题 I need to find the transformation and rotation difference between two 3d point clouds. For this I am looking at PCL, as it seems ideal. On clean test data I have Iterative closest point working, but giving strange results(although I may have implemented it incorrectly...) I have pcl::estimateRigidTransformation working, and it seems better, although I assume will deal worse with noisy data. My question is: The two clouds will be noisy, and although they should contain the same points, there

问题 I have a point cloud from kinect fusion and use Point Cloud Library to segment the ground plane(a x+b y+c*z+d=0) successfully(I got the a,b,c,d in pcl::ModelCoefficients of the ground plane). Now I need to transform the Cartesian coordinates to new Cartesian coordinates that makes the ground plane became the X-O-Y plane(0*x+0*y+z=0). I guess I can do it by this API(but I don't know how): http://docs.pointclouds.org/trunk/group__common.html#transformPointCloud My Answer : Look at this PCL api

问题 I am trying to get CMAKE to create a project for msvc 10 express edition for x64 architecture. I have both MSVC 2010 Express and Windows SDK 7.1 installed. If I start CMake Normally I can create a 32 bit project, however it fails to make a 64 bit project. I have also Tried starting CMAKE from within the Windows SDK Command Prompt (cl cmd maps to x64 version) however It still fails with the following. Found Windows SDK v7.1: C:\Program Files\Microsoft SDKs\Windows\v7.1\ Check for working C

问题 I am trying to use the Point Cloud Library with Visual Studio. I downloaded the all-in-one 64 bit installer, Visual Studio 10 and installed them. But now I cannot run it on Visual Studio 2010, I have tried the tutorial on the official page with no luck. I want to add the includes and lib location, with the .lib files in the properties of my solution. I have done this before with opencv, but for PCL I don't know what files and folders I have to add. Also what .dll files I have to add to the

问题 I'd like to search my 3D ( xyz ) for point cloud using a 2D ( xy ) criteria. i.e. "Find all the points near x=2 AND y=4 regardless of their Z coordinate" Conceptually, I thought I could solve this by creating a KD tree that only considered x & y, but I can't seem to find anyway with the PCL tools to do that. Is there a good (already written) way to do this? Or will I have to implement my own [likely slower] Kd tree? 回答1: If you were thinking about a KD Tree, then you are having some limits on

问题 I'm new to PCL and I'm trying to do this tutorialhere. The problem is that I can compile it, but when I run this, it give me an error: *exception at 0x000007fefd27940d in pcl_VFHexperiment.exe: Microsoft C++ exception: pcl::IOException at memory location 0x001cf0e0* I guess the problem is that mls. process function doesn't work correctly and the operation of file saving provides an error. Could be the input file the problem? I use ism_test_cat.pcd file found here. I don't know where the file

问题 I have a code where I use the pcl/gpu namespace: pcl::gpu::Octree::PointCloud clusterCloud; clusterCloud.upload(cloud_filtered->points); pcl::gpu::Octree::Ptr octree_device (new pcl::gpu::Octree); octree_device->setCloud(clusterCloud); octree_device->build(); /*tree->setCloud (clusterCloud);*/ // Create the cluster extractor object for the planar model and set all the parameters std::vector<pcl::PointIndices> cluster_indices; pcl::gpu::EuclideanClusterExtraction ec; ec.setClusterTolerance (0

问题 I am trying to perform a segmentation task with PCL/ROS. I am using the dynamic configuration option in ROS as the number of inputs to my segmentation task is large and would like to study the influence of each param . There is no problem with my C++ source code, however when I try to run the launch file my file publisher is not able to find the PCD files. <launch> <!-- Start segmentation analysis --> <node pkg="segmentation_analysis" name="region_growing" type="region_growing" output="screen

问题 The function below produces no result. In other words, the number of points in point cloud is exactly the same as before down-sampling. I tried various numbers for leaf size from 0.01 all the way to the ones you see below but all of them produce the same result. I had to ticker with the conversions (as you see below) going from pcl::PointCloud<T> to pcl::PCLPointCloud2 so I am suspecting that they might the problem here. Please let me know if you had similar problem and solved it. Thank you.