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Point cloud integration #19

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Merged
adujardin merged 16 commits into from
Feb 26, 2016
Merged

Point cloud integration #19

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efa22c9
Point cloud integration, removed multiple .launch
nesnes Feb 26, 2016
0ef8e42
Point cloud integration, removed multiple .launch
nesnes Feb 26, 2016
87a55d6
Delete zed_wrapper_node.cpp
nesnes Feb 26, 2016
130d06b
Delete zed_tf.launch
nesnes Feb 26, 2016
407431c
Delete zed.launch
nesnes Feb 26, 2016
95bc464
Delete zed_stereo.launch
nesnes Feb 26, 2016
99d2471
Delete zed_depth.launch
nesnes Feb 26, 2016
f463c6e
Point cloud integration, removed multiple .launch
nesnes Feb 26, 2016
1d6ff9c
Point cloud integration, removed multiple .launch
nesnes Feb 26, 2016
3f10d9b
Point cloud integration, removed multiple .launch
nesnes Feb 26, 2016
92f96a4
Point cloud integration, removed multiple .launch
nesnes Feb 26, 2016
745e672
Point cloud integration, removed multiple .launch
nesnes Feb 26, 2016
15a23aa
Point cloud integration, removed multiple .launch
nesnes Feb 26, 2016
cfd1014
Point cloud integration, removed multiple .launch
nesnes Feb 26, 2016
ce68bf6
Point cloud integration, removed multiple .launch
nesnes Feb 26, 2016
3841ffb
Point cloud integration, removed multiple .launch
nesnes Feb 26, 2016
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Point cloud integration, removed multiple .launch
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@nesnes
nesnes committed Feb 26, 2016
commit 3841ffb758fd7e7466f6dcdca10f74fff9a57d5d
16 changes: 7 additions & 9 deletions src/zed_wrapper_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,9 +125,9 @@ void publishPointCloud(float* p_cloud, int width, int height, ros::Publisher &pu
continue;
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@eric-wieser eric-wieser Feb 29, 2016

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continue is not ok here - you've now left one of the entries in point_cloud.points with unitialized memory, which is impossible for anything downsteam to detect.

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@nesnes nesnes Feb 29, 2016

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Yes, that's what we can think, but when you read the std::vector::resize documentation, you see that if no default object is given to the resize as second arg, the default constructor is use the create the new objects. So the continue is possible because all the points in the cloud are initialized by the resize.

http://www.cplusplus.com/reference/vector/vector/resize/

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@eric-wieser eric-wieser Feb 29, 2016

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Presumably the default constructor for this type is zero-filled? Isn't NaN more desirable for a missing data point

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@nesnes nesnes Feb 29, 2016

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This is a logic that should be handled by the PointCloud object itself and it will be a bad idea to try to overwrite it. You can see in rviz that the "missing" points aren't displayed, so the information is already in the message.

}
pcl::PointXYZRGB point;
point.y = -p_cloud[index4++];
point.z = -p_cloud[index4++];
point.x = p_cloud[index4++];
point.y = -p_cloud[index4++] * 0.001;
point.z = -p_cloud[index4++] * 0.001;
point.x = p_cloud[index4++] * 0.001;
color = p_cloud[index4++];
uint32_t color_uint = *(uint32_t*) & color; // Convert the color
unsigned char* color_uchar = (unsigned char*) &color_uint;
Expand Down Expand Up @@ -314,7 +314,6 @@ int main(int argc, char **argv) {
ROS_INFO_STREAM(errcode2str(err));
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
}
zed->setBaselineRatio(0.001); // convert the ZED values in meters

//ERRCODE display
dynamic_reconfigure::Server<zed_ros_wrapper::ZedConfig> server;
Expand Down Expand Up @@ -425,7 +424,6 @@ int main(int argc, char **argv) {
ROS_INFO_STREAM(errcode2str(err));
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
}
zed->setBaselineRatio(0.001); // convert the ZED values in meters
}
continue;
}
Expand All @@ -434,8 +432,8 @@ int main(int argc, char **argv) {

// Publish the left == rgb image if someone has subscribed to
if(left_SubNumber>0 || rgb_SubNumber>0) {
slMat2cvMat(zed->retrieveImage(sl::zed::SIDE::LEFT)).copyTo(leftImRGBA);// Retrieve RGBA Left image
cv::cvtColor(leftImRGBA, leftImRGB, CV_RGBA2RGB); // Convert to RGB
// Retrieve RGBA Left image
cv::cvtColor(slMat2cvMat(zed->retrieveImage(sl::zed::SIDE::LEFT)), leftImRGB, CV_RGBA2RGB); // Convert to RGB
if(left_SubNumber>0) {
publishCamInfo(left_cam_info_msg, pub_left_cam_info, t);
publishImage(leftImRGB, pub_left, left_frame_id, t);
Expand All @@ -448,8 +446,8 @@ int main(int argc, char **argv) {

// Publish the right image if someone has subscribed to
if(right_SubNumber>0) {
slMat2cvMat(zed->retrieveImage(sl::zed::SIDE::RIGHT)).copyTo(rightImRGBA);// Retrieve RGBA Right image
cv::cvtColor(rightImRGBA, rightImRGB, CV_RGBA2RGB); // Convert to RGB
// Retrieve RGBA Right image
cv::cvtColor(slMat2cvMat(zed->retrieveImage(sl::zed::SIDE::RIGHT)), rightImRGB, CV_RGBA2RGB); // Convert to RGB
publishCamInfo(right_cam_info_msg, pub_right_cam_info, t);
publishImage(rightImRGB, pub_right, right_frame_id, t);
}
Expand Down