pcl_toolbox

>> Code using PCL Library <<

< Environment >

Ubuntu 20.04 ROS Foxy

Tools currently available

1. Voxelization(복셀화) --> 계산량 감소
2. PassThrough --> 관심 영역 설정
3. Transform --> 쿼터니언 좌표계를 이용한 회전 변환
4. Statistics-based noise remover --> 통계 기반 잡음 제거

3.1 Parameter

            parameters=[
                {"crop_box_x_min": -0.0},
                {"crop_box_x_max": 20.0},
                {"crop_box_y_min": -20.0},
                {"crop_box_y_max": 20.0},
                {"crop_box_z_min": -2.0},
                {"crop_box_z_max": 2.0},
                {"voxel_resolution": 0.1},
                {"setMean": 10.0},
                {"setStddevMulThresh": 0.5},
                {"rotation_quaternion_x": 1.0},
                {"rotation_quaternion_y": 0.0},
                {"rotation_quaternion_z": 0.0},
                {"rotation_quaternion_w": 0.0}, 
            ]

crop_box --> 관심 영역 설정 voxel_resolution --> 복셀 해상도 크기 setMean --> 분석시 고려할 이웃 점의 수 setStddevMulThresh --> Outlier로 처리할 거리 정보, 표준편차에 기반한 임계치 값으로 값이 작을수록 aggressive 하게 적용 rotation_quaternion --> 쿼터니언 좌표계를 통한 회전변환

Launch

ros2 launch pcl_toolbox tool_box_launch.py

Using on Jetson system

# these testes on jetson nano ubuntu 18.04 and L4T 4.6.2

sudo apt install libpcl-dev # some packages should be installed on jetson bc of dependencies
sudo apt remove libpcl-* --purge
# Download pcl-pcl-1.10.1.tar.gz from
# https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.10.1
# to the jetson and move this file to ~/.local/lib/
cd ~/.local/lib
tar xvf pcl-pcl-1.10.1.tar.gz
cd pcl-pcl-1.10.1 && mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make
sudo make install

mkdir -p ~/pcl_ros/src
cd ~/pcl_ros/src/
(In my case, I do in my work space, not pcl_ros dir)
git clone https://github.com/ros-perception/perception_pcl.git -b foxy-devel
git clone https://github.com/ros-perception/pcl_msgs -b ros2
cd ~/pcl_ros
colcon build --packages-select pcl_msgs
source install/setup.bash
colcon build --packages-ignore pcl_msgs # build packages except pcl_msgs

If you finished upper process, but you can see error with "pclConfig.cmake". You should do below process!

1. check your PCLConfig.cmake file location

cd /.local/lib/pcl-pcl-1.10.1
grep -r "PCLConfig.cmake"

2. Then you can find location of PCLConfig.cmake. In my case, location is ".local/lib/pcl-pcl-1.10.1/build/PCLConfig.cmake"

3. Go to location of PCLConfig.cmake and make new file

cd ~/.local/lib/pcl-pcl-1.10.1/build/
sudo ln -s PCLConfig.cmake pclConfig.cmake

4. Edit to CMakeLists.txt

set(pcl_DIR "/home/macroorin3/.local/lib/pcl-pcl-1.10.1/build") --> + this line
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(pcl REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)

5. Then you can colcon build again