1,404 questions
0
votes
0
answers
13
views
PCL 2d qhull work properly depends on the order of points
I use the pcl-1.14.1 library to create a 2d convex hull with 4 points. But whether work properly depends on the order of points.
If I input the information of four points(bbox_ptr) in this order, it ...
0
votes
1
answer
48
views
Normalizing Point Clouds for Registration and Applying Inverse Normalization
I am working on a point cloud registration problem where I want to apply the following steps:
Normalize both point clouds (centering and scaling them to a unit norm).
Fit a multivariate gaussina and ...
- 101
0
votes
0
answers
51
views
how can i use protected method of octree pcl?
I'm currently using point cloud library for a university project and I want to use a protected method to calculate the distance between the center of a leaf node and point in a point cloud but I can't ...
- 11
0
votes
1
answer
73
views
What would be the stride and offset of this user defined point in PCL?
I want to use the PCL function, getMatrixXfMap, but I don't know what the stride of my point type is.
struct My_Point
{
PCL_ADD_POINT4D;
uint8_t direction;
uint8_t type;
uint8_t ...
2
votes
0
answers
219
views
Surface reconstruction from unorganized point cloud via pcl::MarchingCubesHoppe results in non-manifold surfaces
I have an unorganized, isotropic and volumetric point cloud, which I get from a uniformely dense and noise-free simulated CT scan of a halfed apple (without stem) and try to get a concave mesh with ...
- 21
-1
votes
1
answer
173
views
pcl_conversions fails to convert from sensor_msgs::PointCloud2 to pcl::PointCloud2 on Jetson (arm architecture)
I am trying to use the pcl_conversions library to convert the pointcloud from sensor_msgs::msg::PointCloud2 to pcl::PCLPointCloud2.
I am working on a Jetson (ARM architecture) with Jetpack 5.0, in a ...
0
votes
0
answers
172
views
Velodyne Decoder - Data Parsing and Visualisation
I am having a velodyne lidar VLP 32C, my aim is to take data, parse and visualize.
Below is the code I am using. I am getting the datapackets from the lidar but when trying to parse and visualize I am ...
- 1
0
votes
0
answers
27
views
Removing specific parts/data from a point cloud
If i have a point cloud, for example of a metal object that has a few extrusions/unwanted parts like in the image, are there any clustering methods to remove such extrusions? I've tried using ...
1
vote
1
answer
98
views
Maximize the volume of a cylinder, bounded on the outside by a roughly cylindrical point cloud. C++
I am receiving a point cloud from a 3d scanner system which has already had outliers filtered. It is roughly cylindrical and an example looks like this:
Front view
Isometric view
I need to create a C++...
- 31
0
votes
0
answers
56
views
Nuscence dataset LiDAR Radar visualisation
I am trying to visualize LIDAR_TOP and all the 5 RADAR points using cloudcompare or open3d tools. After visualization I observed the radar and lidar points are not aligned. Blue points are from lidar ...
- 19
1
vote
1
answer
89
views
Return quality of fit for PointCloudLibrary RANSAC model fitting
I'm trying to use Point Cloud Library to fit a circle in 3d space to a collection of 3d points, with robust rejection of outliers. RANSAC seems to be a suitable way to accomplish this.
Along with the ...
- 3,756
0
votes
0
answers
26
views
How to reduce normal vector points of a Point cloud data?
eimerI have a curved object as a point cloud and using pcl, i first downsampled it using voxelgrid and then cluster extracted my object of interest and then used normal estimation to find normal ...
0
votes
0
answers
93
views
Normal estimation of PointCloud from depthai's Oak-D-Pro-W, either never finishes the compute or Input dataset is not from a projective device
I have an Oak-D-Pro-W a stereo camera that's capable of outputting an organized PCL point cloud object. I'd like to be able to then do surface normal estimation on top of the point cloud.
I started ...
- 31
1
vote
1
answer
149
views
Align two Point Clouds with PCL only by translation
I am trying to align two point clouds. For this I use the Iterative Closest Point Algorithm (ICP) of the PCL library. This works quite well so far.
pcl::IterativeClosestPoint<PointT, PointT> icp;...
- 705
0
votes
0
answers
89
views
point cloud registration - how to mark boundary of object?
I have a point cloud registration problem, where I'm trying to compare 3D scannings of various archaeological artifacts.
I have already downsampled my point clouds to be on regular voxel grids, and I ...
- 432
0
votes
1
answer
333
views
Efficiently find k-nearest points from a K-d tree to a line using the Point Cloud Library
Using the Point Cloud Library (PCL), I have created a K-d tree from a point cloud. I would like to find the k-nearest points from the K-d tree to a line. Is there a way to do this efficiently using ...
- 97
0
votes
0
answers
81
views
Segmentation of a building (Pointcloud)
my plan is to segment a building or a flat into rooms. As a basis I have a ply file and python 3.11. Now I have a segmentation which does not end at the walls. I hope this works or maybe someone has a ...
- 1
2
votes
1
answer
355
views
How to compare 2 point-clouds?
I want to compare two point-clouds using the open3d library. My main goal is to do comparison between a point cloud of an object from a LiDAR scan device and another point cloud from the 3D CAD model ...
- 41
0
votes
1
answer
32
views
Given one set of 2D points as groud truth, how to match it with one observed set
Assume set A={P1, P2, P3,P4,p5} is known.
The coordinate system of A is o1. each point P is a 2d point which only have coordinates [x, y]. we can obtain the distance between each pair of points.
$$
\...
- 13
0
votes
1
answer
113
views
PCLVisualizer flashing when using .spinOnce()
Beginner here...basically I want do visualize a pointcloud with the PCLVisualizer, while executing code alongside the visualization.
So far i tried to use the CloudViewer(same behaviour) and also the ...
- 3
0
votes
0
answers
88
views
Filtering the point cloud coming from multiple lidars
I have been experimenting with the pcl point cloud library. I have point cloud data coming from 3 different lidars. I filter out the point cloud for each lidar to remove unwanted points in their ...
- 101
0
votes
0
answers
144
views
Why are the eigen vectors not calculated as expected for cube-like point clouds with the Eigen library?
For a project using 3d cameras, I want to calculate the oriented bounding box of a point cloud.
I am using this algorithm.
For general cuboids it worked well, but when testing the algorithm with a ...
- 21
0
votes
0
answers
106
views
"[rosrun] Couldn't find executable named example below /home/USERNAME/catkin_ws/src/my_pcl_tutorial" Trying to get PCL working with ROS
http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
http://wiki.ros.org/pcl/Tutorials
I'm trying to get ROS point cloud working. I've followed every step on these links, but keep ...
0
votes
0
answers
119
views
error: no matching function for call to -- ROS (C++)
I'm currently making my end-of-master project in ROS (C++). I'm doing an algorithm for climbing slopes with a robot. When I use catkin_make, I receive this:
error: no matching function for call to ‘...
- 11
0
votes
0
answers
119
views
SOLVED No matching function for call to ‘pcl::VoxelGrid<pcl::PointXYZ>::VoxelGrid(bool) for using getRemovedIndices()
I am working in ROS and processing point clouds using the PCL. At one moment, when filtering my cloud with VoxelGrid, I also needed to extract the same filtered points in its twin Normals point cloud, ...
- 1
-1
votes
1
answer
61
views
vuforia area target point clound
i have a problem with area target.
Is there any chance to get point cloud or mesh from area target?
find point cloud from scanned area target
I'm waiting for any help. I use the vuforia area app for ...
- 1
0
votes
0
answers
54
views
Incorrect reconstruction when moving a pointcloud using pcl::Poisson
I'm having a problem with pcl::Poisson. As I had to register the side-face pointcloud to the front face, I used pcl::transformPointCloud to transform it. However, when I translated the point cloud in ...
- 1
0
votes
0
answers
52
views
PointCloud upsampling
I have a small pointcloud. From a space point of vies it can be considered a 4x4 matrix:
-------------------------
| 0 | 1 | 2 | 3 |
-------------------------
| 4 | 5 | 6 | 7 |
--------...
0
votes
1
answer
57
views
How to make a rectangle by aligning the cloud of points obtained with four lidars?
I have 4 laserscan data that measured blocks using four 2D-LiDAR in ROS.
LiDAR measures as it descends, so its appearance is divided by vibration.
In this situation, I would like to sort the data to ...
1
vote
1
answer
470
views
What's the principle of uniform_sampling in PCL?
Uniform sampling algorithm: The uniform sampling filters the point cloud by constructing a sphere with a specified radius, and the point closest to the center of the sphere in each sphere is output as ...
-1
votes
1
answer
115
views
Volume Calculation on PointCloud
I am currently working on pointcloud where i will select the particular area for that particular area i need volume where my code giving me huge values than expected ,please help me resolve the issue
...
0
votes
2
answers
374
views
unable to load big .pcd files using pcl::io::loadPCDFile
I am trying to load a big ointcloud (56 million points) using pcl. When I load it it gives the correct size but it put 19 million points at [0,0,0]. I check that these points are not located here ...
0
votes
0
answers
139
views
Using ICP in PCL cannot be registered correctly even if a very good initial pose is set
I want to estimate the pose of a workpiece, so I tried to use registration.
The source point cloud was captured from the binocular structural light camera(the red one), and the target point cloud was ...
2
votes
1
answer
327
views
Is there a way to save a point cloud voxelized with Open3D in a format supported by Unreal Engine?
Issues with Voxelization of Point Clouds in Open3D and Saving in Non-PLY Formats
Background
I am currently working on voxelizing point cloud data for utilization within the Unreal Engine. However, I'm ...
- 65
0
votes
0
answers
69
views
not able to convert Uint8 to FLoat32 Array in JS
I have pointData which is Uint8Array of point data with the structure of each point is 20 bytes and x, y, z have offset of 0, 4, 8 and intensity is at offset of 16 and all are of 4 bytes.
The data is ...
- 1,540
1
vote
0
answers
317
views
How to properly set the hyper parameters for PCL's NDT algorithm?
I require some guidance on how to use PCL libraries's NDT algorithm for localisation.
The problem I am trying to solve is to monitor whether the robot is localised properly to a map generated by ...
- 125
-1
votes
1
answer
64
views
pcl::EuclideanClusterExtraction failed to extract the first cluster
I'm trying to extract the first cluster from point cloud. Here is my code
Input
cluster_pcd_ptr
tolerance
body
pcl::search::KdTree<pcl::PointXYZ>::Ptr cluster_tree(
new pcl::search::KdTree&...
- 29
0
votes
1
answer
114
views
pcl::io::loadPCDFile Could not find file 'gArBaGe'
I'm using a really simple code example I found in a tutorial.
When I try to use the pcl::io::loadPCDFile no metter how I try to parameterize it, but ofc I give it valid path with valid point cloud, it ...
- 65
1
vote
0
answers
83
views
Why does pcwrite or pcread function in MATLAB change the empty pixel of a pointcloud from [0 0 0] to [0.000000 0.000000 0.000000]?
I have a pointcloud file "**.ply", whose xyz value is shown as a N3 matrix. In this xyz matrix, the empty pixel is expressed by [0 0 0]. I pull the ply file directly to the command window ...
0
votes
1
answer
298
views
How to extract points from point cloud from pcl::Indices
Have this piece of code that is selecting the points I want to keep.
Eigen::Vector3f rodrigues(0,0,0);
Eigen::Vector3f boxCenter(0.5, 0.5, 0.5);
Eigen::Vector3f box_size(0.9, 0.9 , 0.9);
...
- 75
0
votes
1
answer
169
views
Keep Intesity when converting pcl PointCloud<PointXYZI> to ros PointCloud2
When converting Ros PointCloud2 to pcl PointCloud you need to rename a field in the PC2 data to make it work, as can be seen here.
My Question is, when converting from pcl PointCloud to ros ...
- 187
1
vote
2
answers
411
views
PCL Own Point Type can't use pcl functions and operators
#define PCL_NO_PRECOMPILE
#include <pcl/pcl_macros.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <Eigen/Geometry>
#include <Eigen/Dense>
#include ...
- 165
0
votes
1
answer
678
views
PCL undefined reference in linker
I am trying to use SurfaceReconstruction from point cloud data, here is my code
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/...
0
votes
0
answers
113
views
Segmentation fault when saving cloud points malloc.c: No such file or directory
I have a sequence of images from which points of interest are extracted. to visualize the whole cloud point the pcl library is used. So two variables exist p which is the cloud of points extracted ...
- 1
0
votes
1
answer
3k
views
Segmentation fault(core dumped) when load model or tensor to GPU
I want to use this program; https://github.com/erikwijmans/Pointnet2_PyTorch/tree/master/pointnet2_ops_lib, which is the Pointnet2 model, for other tasks in my experiment, but I found that when I load ...
0
votes
1
answer
1k
views
Visualize Sensor_msgs/PointCloud2
I am trying to visualize realtime sensor_msgs/PointCloud2 on my qtvtk widget instead of reading from .pcd file. I will share an example of code that reads from .pcd file.
void MainWindow::...
- 11
0
votes
2
answers
192
views
A strange phenomenon when using pcl::ApproximateGrid:
My environment is PCL 1.11.1 and vs2019.
I generated the synthetic point cloud using CloudCompare and I wanna downsample it.
So I use the following code
pcl::PointCloud<pcl::PointXYZ>::Ptr ...
0
votes
1
answer
345
views
PCL not finding QHull includes
I am using PCL and noticed that when I include pcl/surface/qhull.h there is an error while building:
fatal error C1083: Cannot open include file: 'libqhull_r/libqhull_r.h': No such file or directory
...
- 29
0
votes
1
answer
278
views
How to know the coordinate of a dot in point cloud in phyton?
I have a set of geo-referenced point cloud. I want to know the location of one or many points coordinate. How can I find this?
As a comparison, in cloudcompare, we can check the coordinate of a point ...
- 1
0
votes
1
answer
199
views
Can PDAL be used to find the max point in each of a set of polygons?
I'm looking for the highest point in each of a large number of polygons. I'm using this pipeline:
[
'points.las',
{'type': 'filters.crop', 'polygon': polygons},
{
"...
- 25.9k