Bumblebee2 camera points are all Nan. [closed]

edit

Hello everyone. I want to extract pointclouds from Bumblebee2,but the points and points2 are all Nan.I don't know where I was wrong.Could anyone help me.

I used "camera1394stereo" to driver the Bumblebee, and "stereo_image_proc" to process, I can view the disparity map by "stereo_view".I want to see the value in PointCloud2 using the following callback.

void callback(const sensor_msgs::PointCloud2ConstPtr& cloud)

{

pcl::PointCloud<pcl::pointxyz> PointCloudXYZ;

pcl::fromROSMsg(*cloud,PointCloudXYZ);

std::cout << "width is " << PointCloudXYZ.width << std::endl;

std::cout << "height is " << PointCloudXYZ.height << std::endl;

int cloudsize = (PointCloudXYZ.width) * (PointCloudXYZ.height);

for (int i=0; i< cloudsize; i++)

{

fprintf(stream,"\t(%f, %f, %f)\n",PointCloudXYZ.points[i].x,    PointCloudXYZ.points[i].y, PointCloudXYZ.points[i].z);

}

} but the values are all nan,like

(nan, nan, nan)

(nan, nan, nan)

(nan, nan, nan)

(nan, nan, nan)

(nan, nan, nan)

(nan, nan, nan)

I used this callback to process the kinect points,it's ok.

(-0.003587, -0.004384, 0.459000)

(-0.003587, -0.003587, 0.459000)

(-0.003587, -0.002790, 0.459000)

(-0.003587, -0.001993, 0.459000)