Realsense D435, Pointcloud2 does not have any colour in Realsense viewer #1978
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vanerkz
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Hi @vanerkz The 3D image in your Viewer does not look like a typical textured pointcloud where the RGB image is mapped to the depth points. It resembles a mis-colored depth only cloud. Could you try disabling the two GLSL settings in the Viewer's settings interface if they are enabled please, using the instructions in the link below to do so, and see whether it makes a positive difference to the point cloud in 3D mode? |
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Hi, I have disable both GLSL setting. However, I still have the same problem. |
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Does the point cloud update correctly if you go to the Texture option at the top of the Viewer window and toggle between the depth and color settings?
Also, may I confirm that you are not using the RealSense ROS wrapper at the same time that you are using the Viewer? The Viewer and the ROS wrapper are not designed to be used together simultaneously. |
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I have tried to toggle between the texture option. It does change between the options. |
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If you are pointing the camera at the curtains during your toggle test, it still does not look as though it is displaying the RGB detail correctly when selecting the Color option. in regard to ROS, are you using roslaunch realsense2_camera rs_camera.launch filters:=pointcloud as your roslaunch instruction like in the ROS wrapper's pointcloud example in the link below? roslaunch realsense2_camera rs_camera.launch filters:=pointcloud |
The below are the output
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If I run realsense2_camera rs_d435_camera_with_model.launch. I cant see any pointcloud2 in rivz. robot@robot:~$ roslaunch realsense2_camera rs_d435_camera_with_model.launch xacro: in-order processing became default in ROS Melodic. You can drop the option. SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to 34080a00-e2f8-11eb-8bbd-0024d7098ccc [ INFO] [1626084124.319907997]: Device with physical ID /sys/devices/pci0000:00/0000:00:1c.3/0000:0c:00.0/usb4/4-1/4-1:1.0/video4linux/video2 was found. |
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The launch file rs_d435_camera_with_model.launch has not been updated for years. If you are aiming to generate a point cloud in the RealSense ROS wrapper with a 400 Series camera (like your D435) then I would recommend using the rs_camera or rs_rgbd launch files that have been updated much more recently. Could you post an image of your RViz screen please after having launched with roslaunch realsense2_camera rs_camera.launch filters:=pointcloud |
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Hi @vanerkz Do you require further assistance with this case, please? Thanks! |
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Case closed due to no further comments received. |
Hi, I have the problem shown above. Pointcloud2 does not have any colour, it is fully grey. I have tried different methods to solve the problem above but yet I still have the same problem. Both depth and RGB is working as shown above.
anyone encounter this problem before ? Thank you !
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