Experiments
roscore
rosrun pcl_ros pcd_to_pointcloud ~/.ros/wh2_lg707070_1ms0.01.pcd _frame_id:=/mapIn the directory of ~/truss_ws/src/truss
rviz -d node_pole.rvizIn another terminal, open rviz -> Panels -> Selection. Choose Select, then left click the point whose position you want to know. On the left Selection you can see it.
The point on the pole it's position is:
// X Y Z
0.73738
-0.28508
0.20357Modify values of init_x, init_y and init_z of the truss_pointcloud.cpp and skeleton_truss.cpp in the directory /home/william/truss_ws/src/truss/src
In truss_pointcloud.cpp, it seems like:
init_x=0.73738;
init_y=-0.28508;
init_z=-0.20357; In skeleton_truss.cpp, it seems like:
float init_x=0.12,init_y=-0.12,init_z=0.526; // must be in the truss