ZED Camera Support With OPT #123
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detection/CMakeLists.txt
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| add_executable(ground_based_people_detector_sr apps/ground_based_people_detector_node_sr.cpp) | ||
| SET_TARGET_PROPERTIES(ground_based_people_detector_sr PROPERTIES LINK_FLAGS -L${PCL_LIBRARY_DIRS}) | ||
| target_link_libraries(ground_based_people_detector_sr ${PROJECT_NAME} ${catkin_LIBRARIES} ${PCL_LIBRARIES} vtkHybrid vtkRendering) | ||
| #add_executable(ground_based_people_detector_sr apps/ground_based_people_detector_node_sr.cpp) |
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With this, the files for the SwissRanger are not built. I think we should maintain them.
detection/conf/ground_.txt
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| 1.59075e-37 | |||
| pcl::VoxelGrid<PointT> voxel_grid_filter_object; | ||
| if (apply_denoising_) | ||
| { | ||
| //std::cout << "APPLY DENOISING" << std::endl; |
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All these debug lines should not go to the repo. If now you don't need them any more, can you remove them?
| std::vector<int> myvector; | ||
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| int count = 0; | ||
| for(pcl::PointCloud<pcl::PointXYZRGB>::iterator it = no_ground_cloud_->begin(); it != no_ground_cloud_->end(); it++) |
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Did you try with the method built-in in PCL for removing NaNs?
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Yes I have tried doing this:
PointCloudPtr removedNaN_cloud(new PointCloud);
std::vector indices;
pcl::removeNaNFromPointCloud(*no_ground_cloud_, *removedNaN_cloud, indices);
no_ground_cloud_ = removedNaN_cloud;
However when i do that I get the error:
"Invalid (NaN, Inf) point coordinates given to radiusSearch!"
Which is why I ended up creating my own remove NaN
zed_ros_wrapper/README.md
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| # zed-ros-wrapper | |||
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I think that the Zed wrapper should go in a separate repo, outside open_ptrack, as we did for the other sensors.
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Please see README - ZED WITH OPT INSTALL ONLY FOLLOW THIS IF USING ZED.txt for installation and running instructions.