Question

I have written a piece of code which subscribes to my Pepper Robot's depth_registered/points topic, converts the Sensor::msg object to pcl::PointCloud using pcl::fromROSMsg(), when I try to visualize the pcl point cloud via PCL viewer I get a green red black screen(refer this) I'm able to see the pointcloud on RViZ. I've tried converting the Sensor::msg PointCloud2 object to both pcl::PointCloudpcl::PointXYZRGB and pcl::PointCloudpcl::PointXYZ, both gives the same output.

Here's the snippet of code,

void callback(const sensor_msgs::PointCloud2ConstPtr &cloud) {

pcl::PointCloud<pcl::PointXYZ>::Ptr cloudGround(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromROSMsg(*cloud, *cloudGround);
pcl::visualization::CloudViewer viewer ("Simple Cloud Viewer");
viewer.showCloud (cloud);
while (!viewer.wasStopped ())
{
}
const std::string file_name = "pointcloud.pcd";
pcl::io::savePCDFileASCII (file_name, *cloudGround);

}

Also the depth coordinates from Pepper that I'm printing are very small in the order of 10^35. Is this expected? ROS Kinetic Ubuntu 16.04 Any help?

Asked by metalaman on 2018-02-16 06:24:56 UTC

Answer 1

What you're seeing is just the three axes zoomed in. Use the mouse wheel to scroll out and you'll see your scene. I felt pretty silly when I finally figured that out.

Asked by daniel-s-ingram on 2019-05-25 16:17:26 UTC

Can't visualize Pepper's PointCloud using PCL viewer

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