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如何在ROS中使用PCL可视化kinect数据的表面法线？

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我试图使用ROS中的PCL从我的kinect2数据中获得表面正常 . 我在查看普通数据时遇到了麻烦 .

我正在使用Following Viewer来查看实时点 Cloud .

我已将point normal code的PCL添加到此代码中以计算和可视化正常 .

我遇到了运行时错误：

ERROR: In /home/chandan_main/Downloads/VTK-7.1.0/Rendering/OpenGL2/vtkOpenGLPolyDataMapper.cxx, line 1794
vtkOpenGLPolyDataMapper (0xa1ea5e0): failed after UpdateShader 1 OpenGL errors detected
  0 : (1281) Invalid value


[pcl::IntegralImageNormalEstimation::setInputCloud] Input dataset is not organized (height = 1).
[pcl::IntegralImageNormalEstimation::initCompute] Input dataset is not organized (height = 1).
[addPointCloudNormals] The number of points differs from the number of normals!
[pcl::IntegralImageNormalEstimation::setInputCloud] Input dataset is not organized (height = 1).
[pcl::IntegralImageNormalEstimation::initCompute] Input dataset is not organized (height = 1).
[addPointCloudNormals] The number of points differs from the number of normals!
[pcl::IntegralImageNormalEstimation::setInputCloud] Input dataset is not organized (height = 1).
[pcl::IntegralImageNormalEstimation::initCompute] Input dataset is not organized (height = 1).
[addPointCloudNormals] The number of points differs from the number of normals!
c++ ros point-cloud-library kinect-v2

1 回答

  • 0

    我现在能够恢复正常 . 我刚刚使用过

    while（！viewer-> wasStopped（））{viewer-> spinOnce（100）; boost :: this_thread :: sleep（boost :: posix_time :: microseconds（100000））; }

    我试图实时恢复正常 . 它显示错误 . 我还重建了有问题的VTK库 .

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