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PCD visualization in Rviz [closed]

asked 2017-10-14 23:26:13 -0600

MT gravatar image

updated 2017-10-15 17:06:44 -0600

Hi Community!

I'm trying to import and manipulate a PCD file in C++ code then visualize the results in Rviz. I feel like this is an easy problem to solve with a couple lines of code but I can't seem to figure them out. I have successfully connected Rviz to my Kinect and Lidar devices and then use PCL etc. to manipulate the live point messages. But I can't seem to import anything and visualize successfully. Any suggestions??

EDIT: Figured it out! heres the code. it might be a bit inefficient but it works.

# include <iostream>
# include <string>

#include <ros/ros.h>

#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/io/pcd_io.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
using namespace std;

int main(int argc, char** argv)
{
  double x_cloud; double y_cloud; double z_cloud;
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  ros::init (argc, argv, "my_pcl_tutorial");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<PointCloud> ("points2", 1);
  pcl::io::loadPCDFile<pcl::PointXYZ> ("yourfile.pcd", *cloud);

  PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "frame1";
  msg->height = cloud->height;
  msg->width = cloud->width;

  for (size_t i = 0; i < cloud->size (); i++) {
  x_cloud = cloud->points[i].x;
  y_cloud = cloud->points[i].y;
  z_cloud = cloud->points[i].z;
  msg->points.push_back (pcl::PointXYZ (x_cloud, y_cloud, z_cloud));
  }

  ros::Rate loop_rate(4);


  while (nh.ok())
  {
    //msg->header.stamp = ros::Time::now().toNSec();
    pub.publish (msg);
    ros::spinOnce ();
    loop_rate.sleep ();
  }
}
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Comments

If you feel your code is the correct answer to your question (but please take a look at pcd_to_pointcloud), please post it as an answer yourself and accept your own answer.

gvdhoorn gravatar imagegvdhoorn ( 2017-10-16 05:13:10 -0600 )edit

The goal was to perform PCL tutorials without the kinect but the PCD files given. This was the fist step of many.

MT gravatar imageMT ( 2017-10-16 05:58:34 -0600 )edit

2 Answers

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answered 2017-10-16 06:04:08 -0600

MT gravatar image

Answer 1:

# include <iostream>
# include <string>

#include <ros/ros.h>

#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/io/pcd_io.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
using namespace std;

int main(int argc, char** argv)
{
  double x_cloud; double y_cloud; double z_cloud;
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  ros::init (argc, argv, "my_pcl_tutorial");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<PointCloud> ("points2", 1);
  pcl::io::loadPCDFile<pcl::PointXYZ> ("yourfile.pcd", *cloud);

  PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "frame1";
  msg->height = cloud->height;
  msg->width = cloud->width;

  for (size_t i = 0; i < cloud->size (); i++) {
  x_cloud = cloud->points[i].x;
  y_cloud = cloud->points[i].y;
  z_cloud = cloud->points[i].z;
  msg->points.push_back (pcl::PointXYZ (x_cloud, y_cloud, z_cloud));
  }

  ros::Rate loop_rate(4);


  while (nh.ok())
  {
    //msg->header.stamp = ros::Time::now().toNSec();
    pub.publish (msg);
    ros::spinOnce ();
    loop_rate.sleep ();
  }
}

Answer 2: pcd_to_pointcloud

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Comments

Thank you for the code , It worked for me

Ajay gravatar imageAjay ( 2018-05-12 02:13:53 -0600 )edit
1

answered 2017-10-15 04:58:03 -0600

gvdhoorn gravatar image

updated 2017-10-16 05:12:08 -0600

But I can't seem to import anything and visualize successfully.

RViz visualises data streams, not files, so in order for you to be able to have it visualise the output of your pointcloud processing, you'll have to publish those clouds on a topic.


Edit (after posting your own code): if all you wanted was to publish a .pcd file (instead of the results of your 'manipulation' directly (ie: without going through the FS)), then the pcd_to_pointcloud node in the pcl_ros package would probably have been better.

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Comments

And a bit of a nitpick: you can't really 'import' anything into RViz. It's not a visualiser like the pcd_viewer from PCL.

gvdhoorn gravatar imagegvdhoorn ( 2017-10-15 04:58:10 -0600 )edit

What exactly is FS? Just for future reference.

MT gravatar imageMT ( 2017-10-16 05:59:46 -0600 )edit

The file system.

gvdhoorn gravatar imagegvdhoorn ( 2017-10-16 06:00:35 -0600 )edit

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Asked: 2017-10-14 23:26:13 -0600

Seen: 1,528 times

Last updated: Oct 16 '17