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Use pcl_viewer -multiview 1 <pcd_filepath> to visualize the pcd file.
More info is provided on PCL Binaries
On Ubuntu you can easily get pcl_viewer by installing the pcl-tools package.
Indeed, Felix' comment was very helpful. I was also looking for the name of that package. Thanks!
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.
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.
Try just $ pcd_viewer filename, there are some path issues with Groovy: http://answers.ros.org/question/54132/pcl_ros-bag_to_pcd-not-found/
For ROS Kinetic:
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
In ROS electric the pcd viewer is: rosrun pcl pcl_viewer <filename></filename>
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.
nitin
Asked: 2012-02-12 21:24:17 -0600
Seen: 50,469 times
Last updated: Jun 14 '18
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