Skip to content

Fix tf_frame of published point clouds #31

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
timaebi wants to merge 2 commits into
base: master
Choose a base branch
from
Open

Fix tf_frame of published point clouds #31

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
1826291
use frame_id of incoming depth image as frame_id of published topics
timaebi Feb 11, 2019
ee59388
add pcl_conversions and pcl_ros to dependencies
timaebi Feb 11, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions depth_segmentation/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@
<depend>opencv3_catkin</depend>
<depend>OpenMP</depend>
<depend>pcl_catkin</depend>
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
<depend>roscpp</depend>
<depend>tf</depend>
</package>
12 changes: 6 additions & 6 deletions depth_segmentation/src/depth_segmentation_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,7 @@ class DepthSegmentationNode {

void publish_segments(
const std::vector<depth_segmentation::Segment>& segments,
const ros::Time& timestamp) {
const std_msgs::Header& header ) {
CHECK_GT(segments.size(), 0u);
pcl::PointCloud<PointType>::Ptr scene_pcl(new pcl::PointCloud<PointType>);
for (depth_segmentation::Segment segment : segments) {
Expand All @@ -144,17 +144,17 @@ class DepthSegmentationNode {
}
sensor_msgs::PointCloud2 pcl2_msg;
pcl::toROSMsg(*segment_pcl, pcl2_msg);
pcl2_msg.header.stamp = timestamp;
pcl2_msg.header.frame_id = depth_segmentation::kTfDepthCameraFrame;
pcl2_msg.header.stamp = header.stamp;
pcl2_msg.header.frame_id = header.frame_id;
point_cloud2_segment_pub_.publish(pcl2_msg);
}
// Just for rviz also publish the whole scene, as otherwise only ~10
// segments are shown:
// https://github.com/ros-visualization/rviz/issues/689
sensor_msgs::PointCloud2 pcl2_msg;
pcl::toROSMsg(*scene_pcl, pcl2_msg);
pcl2_msg.header.stamp = timestamp;
pcl2_msg.header.frame_id = depth_segmentation::kTfDepthCameraFrame;
pcl2_msg.header.stamp = header.stamp;
pcl2_msg.header.frame_id = header.frame_id;
point_cloud2_scene_pub_.publish(pcl2_msg);
}

Expand Down Expand Up @@ -278,7 +278,7 @@ class DepthSegmentationNode {
depth_map, edge_map, normal_map, &label_map,
&segment_masks, &segments);
if (segments.size() > 0) {
publish_segments(segments, depth_msg->header.stamp);
publish_segments(segments, depth_msg->header);
}

// Update the member images to the new images.
Expand Down