c++ - 如何在 ROS 中使用 PCL 可视化 kinect 数据的表面法线？

Question

我正在尝试使用 ROS 中的 PCL 从我的 kinect2 数据中获取表面法线。我在可视化正常数据时遇到问题。

我正在使用 Following Viewer查看实时点云。

我已经添加了 point normal code将 PCL 添加到此代码以计算和​​可视化法线。

我收到以下运行时错误:

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

我现在可以正常了，我刚用过

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

因为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。