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ROS kinetic - visualisation of raw data from LiDAR scanner

asked 2017-09-16 15:12:34 -0600

RafMil gravatar image

Hello, I have set up ROS kinetic environment. I am looking for tips which tools/tutorials should I use to visualise my raw data. What I have is .xml file and .pcd files which was taken by LiDAR (point cloud library). I have also .bag file. I would really aprreciate if you guide me on proper road where should I look for informations about. I have basic understanding of this environment.


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answered 2017-09-17 20:37:16 -0600

rviz would be the easy to go built-in tool to visualize .pcd and .bag files. You can do a bunch of stuff with the .pcd in rviz. Also you can use the pcd_viewer: rosrun perception_pcl pcd_viewer <filename> . Also, you can just try pcd_viewer filename if your path is all set right you should be able to visualize it. You can set the coloring using the number keys.

You can get the pcl_viewer as well by installing the pcl_tools package. Alternatively check PCL binaries.

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Hi, I have tried this solution and encountered difficulties. Error appears: [pcl::PCDReader::readHeader] No points to read. Do you have any ideas what might be wrong and how to handle this? Maybe other way of visualization.

RafMil gravatar image RafMil  ( 2018-08-23 11:08:23 -0600 )edit

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Asked: 2017-09-16 15:12:34 -0600

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Last updated: Sep 17 '17