RMonica
commented
7 years ago Hi egeldres.
I managed to find a laptop with a GTX 950M, in the hope that it would behave similarly to your 960M. Nonetheless, I was unable to reproduce your issue. Sorry.
Suggestions:
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Try to discover where in the code the points disappear. Is it in standalone marching cubes?
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Tinker with the CTA_SIZE_X and CTA_SIZE_Y parameters in templated_extract.cuh. Maybe, if there is a race condition, something will change. They must always be a power of two, and LOG_CTA_SIZE must be the sum of the exponents.
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Use REQUEST_TYPE_GET_VOXELGRID with a bounding box. The result is less accurate, but it skips marching cubes. See if you can use the kinfu_voxelgrid_conversions package to obtain a point cloud from the voxel grid.
Time needed to build a point cloud with marching cubes is (at least) a few seconds, depending on your system.
egeldres
QinZiwen
Hi Rmonica,
I'm using ros_kinfu to extract the pointcloud2 that can be extracted, however my response message with the pointcloud2 doesnt appear to have any point, even when rviz shows the model and the kinfulaunch terminal shows that there are many points on the map being converted to pointcloud2. I'm sending: the kinfulaunch info terminal the echo to the response terminal the publisher node built
MAIN TERMINAL
... [ INFO] [1488578630.917639316]: Avg frame time = 37.85 ms (26.42 fps) [ INFO] [1488578632.362444687]: Avg frame time = 43.09 ms (23.21 fps) //---------(request) [ INFO] [1488578632.977390169]: kinfu: Extract Cloud Worker started. [ INFO] [1488578632.977449758]: kinfu: Locking kinfu... [ INFO] [1488578633.027745258]: kinfu: Locked. Extracting current volume...The old cube's metric origin was (0.000000, 0.000000, 0.000000). The new cube's metric origin is now (-0.018683, -0.007586, 0.006940). SIZE IS 607195 shift: downloading weights... shift: weights downloaded. world contains 0 points after update world contains 0 points after cleaning [ INFO] [1488578636.757929727]: kinfu: retrieveOldCube: scheduled old cube. shift: calling weight listener... shift: done. [ INFO] [1488578636.758035622]: kinfu: RetrieveCubeWorker: working... Done [ INFO] [1488578636.777796456]: kinfu: Marching cubes... Getting world as cubes. World contains 607195 points. World contains 607195 points after nan removal. cube size is set to 512 [ INFO] [1488578637.150566945]: kinfu: RetrieveCubeWorker: retrieved 0 voxels. [ INFO] [1488578637.150618302]: kinfu: NewCubeWorker: Setting known voxels...
[ INFO] [1488578637.154779249]: kinfu: retrieveOldCube: returned old cube. known: uploading weights... known: upload complete. Bounding box for the world: [66.000000 - 511.000000] [27.000000 - 366.000000] [29.000000 - 511.000000] Extracting cube at: [66.000000, 27.000000, 29.000000]. [ INFO] [1488578637.619580363]: Avg frame time = 44.91 ms (22.27 fps) returning 1 cubes Processing world with volume size set to 3meters There are 1 cubes to be processed Processing cube number 0 [ INFO] [1488578639.121338163]: Avg frame time = 44.79 ms (22.33 fps) VOLUME SIZE IS 3 Done! [ INFO] [1488578640.722270426]: kinfu: Extracting only points from mesh... [ INFO] [1488578640.722412967]: kinfu: Merging points... [ INFO] [1488578640.722471226]: kinfu: Applying transformation... [ INFO] [1488578640.722556896]: kinfu: Publishing...
Received response with 0 cloud points 0 mesh cloud points 0 triangles 0 pixels 0 uint64 values 0 float32 values
[ INFO] [1488578640.724894327]: kinfu: Extract Cloud Worker complete. [ INFO] [1488578640.909571324]: kinfu_output: Connection detected for topic /response. [ INFO] [1488578641.141319865]: Avg frame time = 60.48 ms (16.53 fps) [ INFO] [1488578641.909543631]: kinfu_output: Message to topic /response sent. [ INFO] [1488578683.377241191]: Avg frame time = 40.58 ms (24.65 fps) ... short time repeating ... [ INFO] [1488578679.269798066]: Avg frame time = 44.09 ms (22.68 fps) [ INFO] [1488578679.767178154]: kinfu: NewCubeWorker: Done: set 4555063 leaves. [ INFO] [1488578679.767252487]: kinfu: NewCubeWorker: points are 4555063, bitmasks are 14361, full bitmasks are 0. [ INFO] [1488578680.635297378]: Avg frame time = 40.64 ms (24.61 fps) [ INFO] [1488578682.014967543]: Avg frame time = 41.03 ms (24.37 fps) [ INFO] [1488578683.377241191]: Avg frame time = 40.58 ms (24.65 fps) ... then it keeps repeating
The "empty" pointcloud2 I'm getting when echoing the topic is:
RESPONSE MESSAGE
header: seq: 0 stamp: secs: 1488578632 nsecs: 977435053 frame_id: /kinfu_first_frame height: 1 width: 0 fields:
name: x offset: 0 datatype: 7 count: 1
name: y offset: 4 datatype: 7 count: 1
name: z offset: 8 datatype: 7 count: 1
name: normal_x offset: 16 datatype: 7 count: 1
name: normal_y offset: 20 datatype: 7 count: 1
name: normal_z offset: 24 datatype: 7 count: 1
name: curvature offset: 32 datatype: 7 count: 1
is_bigendian: False point_step: 48 row_step: 0 data: [] is_dense: True
PUBLISHER
I've build a publisher sending these specs to publish:
msg.tsdf_header.request_type = kinfu_msgs::KinfuRequestHeader::REQUEST_TYPE_GET_CLOUD; msg.tsdf_header.request_id = 0; msg.tsdf_header.request_source_name = "/response";
msg.request_reset = false;
msg.request_transformation = false; msg.request_bounding_box=false; msg.request_sphere=false; msg.request_subsample=false; msg.request_bounding_box_view=false; msg.tsdf_center_distance=0.0; msg.request_camera_intrinsics=false;
msg.request_view_poses=false; msg.request_remove_duplicates=false;
I'll really appreciate your help again And a short question, how long take a pointcloud 2 to build from a small capture meaning just a view without volume shift
Best regards