[ros-users] point cloud questions

[Michael Styer]

Hi Radu,

Thanks a lot for the detailed response -- it was extraordinarily
helpful. I have a couple of minor follow-up questions/comments, but
you've basically answered all the questions I had (for today :) ).

On Thu, 2010-07-29 at 16:26 -0700, Radu Bogdan Rusu wrote:
> > * a pcl::PointCloud object can be obtained from a PointCloud2 message
> > using the point_cloud::fromMsg() function;
> 
> this got changed in 0.2.x (small rename), but yes, the principle is the same. sensor_msgs::PointCloud2 -> 
> pcl::fromROSMsg () -> pcl::PointCloud<T>

Got it. I see the new function now; I found the old one in the
point_cloud namespace and didn't look in pcl for another. I guess the
point_cloud::fromMsg() function will be removed at some point?

> > 2) What's the function of the height and width fields in the
> > pcl::PointCloud<T>  class? In particular, in my node I want to create an
> > output point cloud which is a subset of the points in the input point
> > cloud; given the subset, what should the height and width of the output
> > point cloud be? Do the height and width of the input point cloud refer
> > to the geometric area enclosing the points, or to the size of the point
> > cloud vector/matrix?
> Good question. We should document this a little bit better (though it is documented in the format message itself). The 
> new sensor_msgs::PointCloud2 can represent organized datasets, while the older format (sensor_msgs::PointCloud) 
> couldn't. This means that now we can represent stereo 3D point cloud data, (or TOF, or even laser, etc), by specifying a 
> width and a height which corresponds to an image. What does this mean?
> 
> - Say you have an RGB image organized as width x height, given by some sensor (i.e., stereo camera)
> - Say you have a point cloud acquired using the same stereo camera, organized as width x height
> - Now you have a perfect 1-1 correspondence between the RGB texture at each pixel and each point in the cloud! Hooray!

OK -- I see the rationale for it now. So if I filter a pointcloud,
removing some subset of the points, I've broken the organizational
structure and I should probably set width=1 and height=points.size(),
regardless of what the original width and height were.

It doesn't look like there's a structured accessor for organized point
clouds, i.e. a way to index into the points array as a 2-d matrix rather
than a vector -- is that right, or have I just missed it?

> (between you and me, we're working on a 2D to 3D feature estimation architecture as we speak - one that would allow you 
> to estimate any 2D feature and attach it to a 3D point in a PointCloud2).

Sounds cool, look forward to seeing it.

> > 3) For a given node that publishes a sensor_msgs::PointCloud2 topic, is
> > there any way for another node to determine the type of the enclosed
> > points? Or is that information only visible in the source?
> 
> It is. That's the reason why we have "fields" inside the PointCloud2 topic. take a look at sensor_msgs::PointField.

Aha. I see what you mean. So that at least tells you what the datatype
and name of each field is. What I was really wondering, though, was
whether there might be a way to figure out, for a given PointCloud2
topic, what the class (such as PointXYZ) of the contained points is,
e.g. through rostopic info or something similar. That would be
convenient if someone wanted to write a node to subscribe to a topic
published by a node from some other package. It doesn't seem like that
exists now; maybe something for the roadmap.

In any case, thanks very much again for your help. PCL is significantly
clearer to me now than it was this morning.

Mike