Colors distorted in pcl_tutorials pointcloud_online viewer /openni_pcl viewer

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Colors distorted in pcl_tutorials pointcloud_online viewer /openni_pcl viewer

Johannes Mohr
In the current git/svn releases
$ rosrun pcl_tutorials pointcloud_online_viewer input:=/camera/depth/points2
$ roslaunch openni_pcl viewer.launch
yield pointclouds from the kinet whose colors are heavily distorted.
This seems strange, since I remember it used to work just recently.
Under rviz everything looks fine. Did anyone encounter the same issue? I
am on unstable, with pcl_tutorials and ni overlayed from git/svn (most
recent releases).

Cheers,
Johannes



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Re: Colors distorted in pcl_tutorials pointcloud_online viewer /openni_pcl viewer

Radu B. Rusu
Administrator
Johannes,

We did two changes:
  * the driver now publishes true colors for NaN XYZ points (change in openni_driver)
  * libpclvisualization now checks for invalid NaN points too in the color handler

If you svn up libpclvisualization and recompile openni_pcl (I recommend using this one than the pointcloud_online_viewer
in pcl_tutorials), things should be working fine.

The added advantage is the new method in pcl::toROSMsg (Cloud, Image) that Ethan wrote that basically converts the
kinect cloud to an image, so it can be used with 2D vision processing methods. This removes the need to use images for
transporting image data, as that information is already stored in the cloud (5D+) and thus redundant. :)

Ethan, do we have a tutorial for that yet?

Cheers,
Radu.
--
http://pointclouds.org

On 01/18/2011 03:06 AM, Johannes Mohr wrote:

> In the current git/svn releases
> $ rosrun pcl_tutorials pointcloud_online_viewer input:=/camera/depth/points2
> $ roslaunch openni_pcl viewer.launch
> yield pointclouds from the kinet whose colors are heavily distorted.
> This seems strange, since I remember it used to work just recently.
> Under rviz everything looks fine. Did anyone encounter the same issue? I
> am on unstable, with pcl_tutorials and ni overlayed from git/svn (most
> recent releases).
>
> Cheers,
> Johannes
>
>
>
> _______________________________________________
> [hidden email] / http://pointclouds.org
> https://code.ros.org/mailman/listinfo/pcl-users
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Re: Colors distorted in pcl_tutorials pointcloud_online viewer /openni_pcl viewer

Ethan Rublee
Will write a tutorial today!  Its fun.  If you can't wait, see
pcl/src/tools/convert_pcd_image.cpp

Ethan
On 01/18/2011 07:51 AM, Radu Bogdan Rusu wrote:

> Johannes,
>
> We did two changes:
>  * the driver now publishes true colors for NaN XYZ points (change in
> openni_driver)
>  * libpclvisualization now checks for invalid NaN points too in the
> color handler
>
> If you svn up libpclvisualization and recompile openni_pcl (I
> recommend using this one than the pointcloud_online_viewer in
> pcl_tutorials), things should be working fine.
>
> The added advantage is the new method in pcl::toROSMsg (Cloud, Image)
> that Ethan wrote that basically converts the kinect cloud to an image,
> so it can be used with 2D vision processing methods. This removes the
> need to use images for transporting image data, as that information is
> already stored in the cloud (5D+) and thus redundant. :)
>
> Ethan, do we have a tutorial for that yet?
>
> Cheers,
> Radu.
> --
> http://pointclouds.org
>
> On 01/18/2011 03:06 AM, Johannes Mohr wrote:
>> In the current git/svn releases
>> $ rosrun pcl_tutorials pointcloud_online_viewer
>> input:=/camera/depth/points2
>> $ roslaunch openni_pcl viewer.launch
>> yield pointclouds from the kinet whose colors are heavily distorted.
>> This seems strange, since I remember it used to work just recently.
>> Under rviz everything looks fine. Did anyone encounter the same issue? I
>> am on unstable, with pcl_tutorials and ni overlayed from git/svn (most
>> recent releases).
>>
>> Cheers,
>> Johannes
>>
>>
>>
>> _______________________________________________
>> [hidden email] / http://pointclouds.org
>> https://code.ros.org/mailman/listinfo/pcl-users

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