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C# display a point cloud

asked 2014-11-02 11:01:55 -0500

benyke gravatar image

Hello!

I got the point cloud data (9830400byte array) in windows, which cames from ubuntu ROS Indigo. As far as i know the 9830400byte = 640 * 480 * 4 chanels(rgba) * 8(different z corinates). And i wanted to display it in a windows form. Anyone know any method how can i do it?

Thanks for your help!

Beni

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How are you getting your point cloud data? Do you have a ROS subscriber on windows, or some other way of transferring the point cloud data?

ahendrix gravatar imageahendrix ( 2014-11-02 17:55:01 -0500 )edit

I have a ROS.NET client on windows, and i subscibed to /camera/depth/points with a sensor_msgs/PointCloud2 message type. And i ment the uint8[] data size is 9830400byte = 640 * 480 * 4 chanels(rgba) * 8(different z corinates). And i wanted to display it.. somehow.. in a windows froms app.

benyke gravatar imagebenyke ( 2014-11-02 23:33:30 -0500 )edit

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answered 2014-11-02 17:59:18 -0500

ahendrix gravatar image

updated 2014-11-03 01:09:52 -0500

PointClouds come in many forms, with different sets of fields and different data layouts.

The additional metadata in the sensor_msgs/PointCloud2 message describe how many rows and columns there are, which fields are present in each pixel, and what order they're in.

EDIT

PCL has a visualization library . It should be possible to use it from .NET: http://stackoverflow.com/questions/18... . It will take a little massaging to convert a ROS message into a PCL message, but the formats are basically the same.

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Asked: 2014-11-02 11:01:55 -0500

Seen: 1,609 times

Last updated: Nov 03 '14