Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

PCL Normal estimation with PointNormal

pcl
pcl_ros

asked 2016-06-25 14:19:59 -0600

bhaskarama
11 ●1 ●1 ●2

The NormalEstimation nodelet in pcl_ros produces point clouds whose point type is Normal (i.e., not including xyz). I have code that needs to work with PointNormals, i.e., x, y, z, nx, ny, nz. Now I could just subscribe to both the normal cloud and the original cloud but then I have to worry about time synchronization as well. Is there a simple way of solving this problem that doesn't require duplicating and modifying pcl_ros/normal_3d.cpp?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2017-09-26 21:43:56 -0600

buckley.toby
116 ●4 ●7 ●11

updated 2017-09-27 17:23:30 -0600

jayess
6155 ●26 ●85 ●92

//Concatenate the XYZ and normal fields*

pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields (*original_XYZ_cloud, *normals, *cloud_with_normals);

edit flag offensive delete link

add a comment

Question Tools

Stats

Asked: 2016-06-25 14:19:59 -0600

Seen: 1,988 times

Last updated: Sep 27 '17

PCL Normal estimation with PointNormal edit

1 Answer

Question Tools

Stats

Related questions

PCL Normal estimation with PointNormal