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PointCloud2 "Large" Points

asked 2020-08-07 07:00:13 -0500

eschoof gravatar image

Hello,

I am using RViz to display a PointCloud2. When I set the Style option to anything other than 'Points', I can see my point cloud rendered expected. However, when I set the Style option to 'Points', I see very large "pixels", regardless of the value set in the Size (pixels) option. I have links to pictured below.

I understand that 'Points' is meant to allow the highest performance when rendering point clouds, but I am finding that not only are the points too big to be useful, they also bring my rendering performance to a crawl.

I am running ROS Melodic on Ubuntu 18.04.

I suspect this is less an issue with ROS/RViz as it is with the graphics on my system, but I don't know how to confirm this. I have attached my OpenGL and RViz information below.

If anyone can provide any guidance as to what might be the problem, I would much appreciate it.

Best, -Eric

Image of 'Flat Squares'

Image of 'Points'

OpenGL Settings:
name of display: :0
display: :0  screen: 0
direct rendering: Yes
server glx vendor string: SGI
server glx version string: 1.4
server glx extensions:
client glx vendor string: Mesa Project and SGI
client glx version string: 1.4
client glx extensions:
GLX version: 1.4
GLX extensions:
Extended renderer info (GLX_MESA_query_renderer):
    Vendor: Intel (0x8086)
    Device: Mesa Intel(R) Iris(R) Plus Graphics (ICL GT2) (0x8a52)
    Version: 20.3.0
    Accelerated: yes
    Video memory: 3072MB
    Unified memory: yes
    Preferred profile: core (0x1)
    Max core profile version: 4.6
    Max compat profile version: 4.6
    Max GLES1 profile version: 1.1
    Max GLES[23] profile version: 3.2
OpenGL vendor string: Intel
OpenGL renderer string: Mesa Intel(R) Iris(R) Plus Graphics (ICL GT2)
OpenGL core profile version string: 4.6 (Core Profile) Mesa 20.3.0-devel (git-c5b2319 2020-08-07 bionic-oibaf-ppa)
OpenGL core profile shading language version string: 4.60
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 4.6 (Compatibility Profile) Mesa 20.3.0-devel (git-c5b2319 2020-08-07 bionic-oibaf-ppa)
OpenGL shading language version string: 4.60
OpenGL context flags: (none)
OpenGL profile mask: compatibility profile
OpenGL extensions:
OpenGL ES profile version string: OpenGL ES 3.2 Mesa 20.3.0-devel (git-c5b2319 2020-08-07 bionic-oibaf-ppa)
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
OpenGL ES profile extensions:

Output of rviz -l:

[ INFO] [1596800356.865896037]: rviz version 1.13.13
[ INFO] [1596800356.865967381]: compiled against Qt version 5.9.5
[ INFO] [1596800356.865984693]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1596800356.870566391]: Forcing OpenGl version 0.
[ INFO] [1596800357.045060025]: Creating resource group General
[ INFO] [1596800357.045133569]: Creating resource group Internal
[ INFO] [1596800357.045162747]: Creating resource group Autodetect
[ INFO] [1596800357.045211839]: SceneManagerFactory for type 'DefaultSceneManager' registered.
[ INFO] [1596800357.045362705]: Registering ResourceManager for type Material
[ INFO] [1596800357.045391717]: Registering ResourceManager for type Mesh
[ INFO] [1596800357.045414219]: Registering ResourceManager for type Skeleton
[ INFO] [1596800357.045443059]: MovableObjectFactory for ...
(more)
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Comments

@eschoof I have the same issue. Did you find a work around or solution? Looks like it's an RViz bug: https://github.com/ros-visualization/...

BuilderMike gravatar image BuilderMike  ( 2020-10-31 14:28:02 -0500 )edit

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answered 2020-10-31 17:18:47 -0500

updated 2020-10-31 18:06:54 -0500

It looks like this issue is a bug with RViz. See: https://github.com/ros-visualization/...

However, in the discussion on that link, one thing that seems to "fix" the issue (enough to get your work done) is to minimize the window!

When the RViz window is maximized to take up the entire screen, the points are brutally large: image description

When you make the RViz window smaller by dragging the edges, the visualized data is shown correcly: image description

Another solution offered by the RViz maintainer is to launch RViz as: rviz rviz --opengl 210(see: https://github.com/ros-visualization/...)

Oh, one last thing.... you asked about PointCloud2, and I gave you a LaserScan, yet the idea is the same. I also have PointCloud2 as well and it behaves identically (I mean, minimizing the window solves the problem).

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Asked: 2020-08-07 06:46:29 -0500

Seen: 493 times

Last updated: Oct 31 '20