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how to visualize pcd file.??

asked 2012-02-12 21:24:17 -0600

youga gravatar image

updated 2012-02-13 01:49:09 -0600

joq gravatar image

Hi all, i am trying to read .pcd file and view it through pcl_visualizer. do i have to write separate code for it or can i directly use some commands?? i tried pcd_viewer filename.pcd also, but its not working.

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answered 2015-06-17 05:16:22 -0600

ShubhamVerma gravatar image

Use pcl_viewer -multiview 1 <pcd_filepath> to visualize the pcd file. More info is provided on PCL Binaries

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On Ubuntu you can easily get pcl_viewer by installing the pcl-tools package.

Felix Widmaier gravatar image Felix Widmaier  ( 2017-02-17 05:42:46 -0600 )edit

felix yest!, finaly thats the package i was looking for

sant gravatar image sant  ( 2017-06-01 10:07:32 -0600 )edit

Indeed, Felix' comment was very helpful. I was also looking for the name of that package. Thanks!

Georg Bartels gravatar image Georg Bartels  ( 2018-07-12 02:03:47 -0600 )edit

thanks Felix!

chillbird gravatar image chillbird  ( 2019-12-13 09:10:33 -0600 )edit

answered 2012-02-12 23:14:26 -0600

updated 2018-06-14 09:54:01 -0600

You can use the pcd_viewer: rosrun perception_pcl pcd_viewer <filename> Starting it without filename will show you options. You can set the coloring using the number keys.

From ROS Hydro on the viewer is called pcl_viewer and is in /usr/bin, so just calling pcl_viewer <filename> should work.

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i tried above cmd but its saying couldn't find package perception_pcl although it is installed.

youga gravatar image youga  ( 2012-02-17 18:46:41 -0600 )edit

Since there are many reasons why this might fail (is it in your ROS_PACKAGE_PATH?), try "locate pcd_viewer" to find it, then start it with the absolute path should solve this for all cases.

Felix Endres gravatar image Felix Endres  ( 2012-02-19 00:26:56 -0600 )edit

Try just $ pcd_viewer filename, there are some path issues with Groovy:

Jeffrey Kane Johnson gravatar image Jeffrey Kane Johnson  ( 2013-02-27 15:07:17 -0600 )edit

In ROS hydro, the former pcd_viewer is renamed to pcl_viewer. Therefore try `$ pcl_viewer <filename>`, if you are using hydro.

Tones gravatar image Tones  ( 2013-10-09 03:04:47 -0600 )edit

@Tones Thank you! pcl_viewer <filename> worked for me on ROS Hydro!

Sergio MP gravatar image Sergio MP  ( 2014-10-03 06:33:58 -0600 )edit

For ROS Kinetic:

  1. Install pcl-tools: sudo apt install pcl-tools
  2. Run the command: pcl_viewer filename.pcd
vinayakkgarg gravatar image vinayakkgarg  ( 2020-05-26 16:27:59 -0600 )edit

answered 2013-02-27 12:57:01 -0600

Scott gravatar image

Try the following /opt/ros/fuerte/bin/pcd_viewer path_to_your_file/file_name example: /opt/ros/fuerte/bin/pcd_viewer my_map.pcd

If you are using groovy, then /opt/ros/groovy/bin/pcd_viewer my_map.pcd

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answered 2014-01-29 21:48:46 -0600

iscar gravatar image

In ROS electric the pcd viewer is: rosrun pcl pcl_viewer <filename></filename>

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answered 2012-02-12 22:31:51 -0600

prince gravatar image

Hi, you can use VTK (The Visualization Tool Kit). It comes with PCL. if not, you can install it. It comes as a standard deb package for Ubuntu/Debian.


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Asked: 2012-02-12 21:24:17 -0600

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Last updated: Jun 14 '18