[ros-users] PCL segmentation and Eigen

Sanja Popovic sanja at MIT.EDU
Fri Jul 30 17:12:01 UTC 2010


#include <Eigen/Core>

void findPlane(pcl::PointCloud<pcl::PointXYZ> cloud, pcl::PointIndices &inliers) {
	Eigen::Vector3f v = Eigen::Vector3f(1.0, 0.0, 0.0);
	pcl::ModelCoefficients coefficients;
	pcl::SACSegmentation<pcl::PointXYZ> seg;
	seg.setModelType (pcl::SACMODEL_ORIENTED_PLANE);
	seg.setMethodType (pcl::SAC_RANSAC);
	seg.setDistanceThreshold (0.02);
	seg.setInputCloud (boost::make_shared<pcl::PointCloud<pcl::PointXYZ> >(cloud));
	seg.segment (inliers, coefficients);

We figured out that it is most likely that you just need to follow the instructions from here: http://eigen.tuxfamily.org/dox/StructHavingEigenMembers.html but you are the boss :)

From: Radu Bogdan Rusu [rusu at willowgarage.com]
Sent: Friday, July 30, 2010 1:07 PM
To: ros-users at code.ros.org
Cc: Sanja Popovic
Subject: Re: [ros-users] PCL segmentation and Eigen


Can you please send me a snippet of code that exhibits that? I'd like to fix this immediately if it's a bug.


On 07/30/2010 10:06 AM, Sanja Popovic wrote:
> Hi,
> When I used PCL segmentation of oriented planes, I had to use Eigen::Vector3f to specify the axis. This led to an error described here: http://eigen.tuxfamily.org/dox/UnalignedArrayAssert.html. The fix was to add #define EIGEN_DONT_ALIGN to the very beginning of my code so it also affects the PCL code. Maybe someone should take a look at it because the code broke down when the segment function from SACSegmentation was called.
> Thanks,
> Sanja
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| Radu Bogdan Rusu | http://rbrusu.com/

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