[ros-users] pcl_ros outlier removal

[Dejan Pangercic]

Hi Georg,

what does "rostopic type /scene_pointcloud2" say? Is it indeed PointCloud2?

Furthermore, did you set the FixedFrame in rviz correctly (I suspect
it shall be /base_link)?

cheers, d.

On Mon, Feb 7, 2011 at 6:33 PM, Arbeiter, Georg
<Georg.Arbeiter at ipa.fraunhofer.de> wrote:
> Hi,
>
> When I try to run the following launch file:
>
> <launch>
> <node pkg="pcl_ros" type="pcd_to_pointcloud" name="pcd_to_pointcloud"
> args="$(find pcl_tutorials)/data/table_scene_mug_stereo_textured.pcd 1"
> output="screen">
> <remap from="/cloud_pcd" to="/scene_pointcloud2" />
> </node>
>
>
> <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager"
> output="screen" />
>
> <!-- Run a StatisticalOutlierRemoval filter -->
> <node pkg="nodelet" type="nodelet" name="outlier_removal" args="load
> pcl/StatisticalOutlierRemoval pcl_manager" output="screen">
> <remap from="~input" to="/scene_pointcloud2" />
> <rosparam>
>       mean_k: 50
>       stddev: 1.0
>       negative: False
> </rosparam>
> </node>
>
> </launch>
>
> and than try to visualize the output in RViz I always get
> [ WARN] [1297099189.315140446]:
> [pcl::StatisticalOutlierRemoval::applyFilter] Searching for the closest
> 50 neighbors failed.
>
> and no point cloud is shown. rostopic echo /scene_pointcloud2 outputs a
> lot of numbers which seem to be correct and no warning is shown.
> What am I doing wrong?
>
> Regards,
> Georg
>
> --
> Dipl.-Ing. Georg Arbeiter, Fraunhofer IPA
> Robotersysteme
> Nobelstrasse 12, 70569 Stuttgart
> Telefon 0711-970-1299, Fax 0711-970-1008
> mailto:georg.arbeiter at ipa.fraunhofer.de
> http://ipa.fraunhofer.de
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-- 
MSc. Dejan Pangercic
PhD Student/Researcher
Intelligent Autonomous Systems Group
Technische Universität München
Telephone: +49 (89) 289-26908
E-Mail: dejan.pangercic at cs.tum.edu
WWW: http://ias.cs.tum.edu/people/pangercic