How can i visualize point cloud with pcl?

melodic
pcl

asked 2023-04-18 23:51:58 -0500

KRN.S
11 ●2 ●5 ●5

updated 2023-04-18 23:57:01 -0500

Hi, I'm trying to use pcl (Point Cloud Library) with ros, and I've done working on tutorial. However when I try to visualize point cloud, I got error saying "undefined reference to `pcl::visualization::CloudViewer::CloudViewer()' " even though my code did work without ros environment.

Here is my code. I just want to visualize my points with pcl::visualization::CloudViewer command. How can i fix it? Thanks in advance.

# include <ros/ros.h>
# include <pcl_ros/point_cloud.h>
# include <pcl/point_types.h>
# include <boost/foreach.hpp>
#include <pcl/visualization/cloud_viewer.h>

typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;

void callback(const PointCloud::ConstPtr& msg){
    printf("Cloud: width= %d, height= %d \n", msg->width, msg->height);
    BOOST_FOREACH(const pcl::PointXYZRGB& pt, msg->points)
         printf("\t(%f, %f, %f)\n", pt.x, pt.y, pt.z);

    // create viewer
    pcl::visualization::CloudViewer viewer("PointCloudViewer");
    viewer.showCloud(msg);
}

int main(int argc, char** argv) {
    ros::init (argc, argv, "show_pcl");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe<PointCloud>("/camera/depth/color/points",1,callback);
    ros::spin(); 
}

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answered 2023-04-20 22:09:50 -0500

KRN.S
11 ●2 ●5 ●5

We cannot use pcl visualization with pcl_ros. Instead, we must use pcl library itself.

To do that, you need to add pcl library to your CMakeLists.txt as like below.

cmake_minimum_required(VERSION 3.0.2)
project(image_process)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  sensor_msgs
  pcl_conversions
  pcl_ros
  roscpp
)
## find PCL package
find_package(PCL 1.8 REQUIRED)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)
## include PCL library
include_directories(
 include
  ${PCL_INCLUDE_DIRS}
)
# ## Declare a C++ executable
# ## With catkin_make all packages are built within a single CMake context
# ## The recommended prefix ensures that target names across packages don't collide

add_executable(show_pcl
  src/show_pcl.cpp
)
add_dependencies(show_pcl ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(show_pcl
  ${PCL_LIBRARIES}
  ${catkin_LIBRARIES}
)

You need both PCL_LIBRARIES and catkin_LIBRARIES in target_link_libraries if you want to use subscribe or publish ros topic.