[ros-users] ICP & PCL with foreign data

[paulhebert]

Hi All, 

I can't for the life of me, figure what is going wrong. Perhaps, I do not
know the structure of PointCloud very well yet but I keep getting a segfault
at the last line in "reg.align". I would like to fill in the point cloud
with a buffer of floats/doubles and then run ICP on the two cloud points. Is
this the right way to do it? It seems to work if I use PCD files but not
when I manually input data like below. Hope someone can help. 


    // Fill in the model cloud data
    model.width    = modelN;
    model.height   = 1;
    model.is_dense = false;
    model.points.resize (model.width * model.height);

    for (size_t i = 0; i < model.points.size (); i++)
    {
        model.points[i].x = (float)modelPointsT[3*i + 0];
        model.points[i].y = (float)modelPointsT[3*i + 1];
        model.points[i].z = (float)modelPointsT[3*i + 2];
    }
   // Fill in the model cloud data
    data.width    = dataN;
    data.height   = 1;
    data.is_dense = false;
    data.points.resize (data.width * data.height);

    for (size_t i = 0; i < data.points.size (); i++)
    {
        data.points[i].x = (float)dataPointsT[3*i + 0] + 5;
        data.points[i].y = (float)dataPointsT[3*i + 1]; 
        data.points[i].z = (float)dataPointsT[3*i + 2]; 
    }   
    
    pcl::PointCloud<pcl::PointXYZ> output;

    pcl::IterativeClosestPointNonLinear<pcl::PointXYZ, pcl::PointXYZ> reg;
    
    reg.setMaxCorrespondenceDistance (0.1);
    reg.setTransformationEpsilon (1e-6);
    reg.setMaximumIterations (50);

    reg.setInputCloud(boost::make_shared<const
pcl::PointCloud<pcl::PointXYZ> > (data));
    reg.setInputTarget(boost::make_shared<const
pcl::PointCloud<pcl::PointXYZ> > (model));
    Eigen3::Matrix4f transform;
    //reg.computeTransformation(output);
    //reg.estimateRigidTransformationLM(data,model,transform);
    printf("Done\n");
    reg.align(output);


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