how to inference pointcloud stream. #2138

songhc8 · 2022-12-13T05:50:24Z

songhc8
Dec 13, 2022

Hi,
Thanks for sharing this project.

I would like to use this project under ROS2 environment. Could you provide one example about how to inference one pointcloud in numpy format without converting the numpy to bin file ?

for example, I subscribe one ros2 message /pointcloud2, the message can be convert to numpy format and stored in varibale "A", A is update in each cycle. how to inference A.

I have read pcd_demo.py, and pcd_seg_demo.py, both require one pcd file stored in .bin format. That means I should save variable A into .bin file first and read it into memory again?

Same question in Chinese:
你好，我想在ROS2下使用本项目，我看了项目的demo，都是给定一个.bin文件作为点云的输入。如果我是订阅的ros2消息，点云存在一个numpy变量里，怎么推理这个numpy变量呢？需要先存在硬盘生成.bin文件，再推理吗？是否有内存加载numpy变量推理的例程，谢谢。