如何在ROS中使用PCL可视化kinect数据的表面法线？

Question

我正在尝试在ROS中使用PCL从kinect2数据中获取表面法线。我在可视化常规数据时遇到麻烦。

我正在使用Following Viewer来查看实时点云。

我已在此代码中添加了point normal code PCL，以计算和可视化法线。

我遇到以下运行时错误：

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! 

Answer 1

我现在可以恢复正常。我刚刚用过

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

因为我试图实时恢复正常，这显示了错误。我还重建了有问题的VTK库。