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Can't view the pointclouds in the rviz

asked 2016-06-03 07:01:24 -0500

Winston gravatar image

I use the bumblebee2 get stereo picture of the left and right image,and use the stereo_image_proc package to deal with it . i got the rect image and disparity image with no problem, and use the command of "rostopic echo /stereo_camera/pointclouds2",got the pointclouds data as followed image description then i want to use the rviz to see the pointclouds picture ,it failed. image description

I think it's not the problem of "tf data",as i use the bumbleebee on line get the pointclouds picture by rviz have the same warn of "tf data",but it's no matter to view the pointclouds in the rviz!

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answered 2016-06-03 07:46:46 -0500

It's hard to parse your last sentence. I guess you were able to display an image. In this case, I do think it is the lack of tf data, as the pointcloud data needs a coordinate frame, while the image does not.

In this case you need to manually set rviz to the right frame. Check the output of rostopic echo /stereo_camera/pointclouds2/header/frame_id and set the according frame name as fixed_frame in rviz.

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Thanks for your advise! I mean i can get the pointclouds picture with the warn""Global statas warn No Tf data" when i use the bumblebee, so i don't think it lack of tf data.And my frame_id is "map" in my code,so i think it's not the problem.Is there any other posible prolem? I really confused!

Winston gravatar image Winston  ( 2016-06-08 04:46:02 -0500 )edit

In what code is your frame_id "map"? Usually one does not use "map" as the frame_id for the sensor data. Have you checked the output of the mentioned command?

Felix Endres gravatar image Felix Endres  ( 2016-06-08 07:28:18 -0500 )edit

In my "publish images and camera_info" code. Thanks for your suggestions, and i found the problem recently. It's the problem of the CameraInfo!. The CameraInfo isn't match the left and right image!

Winston gravatar image Winston  ( 2016-06-21 02:58:47 -0500 )edit

Could you please point what you fixed in CameraInfo? I have exact same problem. thanks

dpetrini gravatar image dpetrini  ( 2019-03-13 08:20:29 -0500 )edit

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Asked: 2016-06-03 07:01:24 -0500

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Last updated: Jun 03 '16