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pcd point cloud not shown #39

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omerbrandis opened this issue Nov 22, 2021 · 3 comments · Fixed by #40
Closed

pcd point cloud not shown #39

omerbrandis opened this issue Nov 22, 2021 · 3 comments · Fixed by #40
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@ch-sa
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feature New feature or request question Further information is requested

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@omerbrandis
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hello,

i've manged to load a pcd file, here's the log:

==================== Loading first.pcd ====================
Number of Points: 577761
Point Cloud Center:		[460.1  604.01 732.4 ]
Point Cloud Minimums:	[  1.  98. 297.]
Point Cloud Maximums:	[1200.  971. 1351.]
Initial Translation:	[ -460.1   -604.01 -2551.92]
Successfully loaded point cloud from /home/omerbrandis/ffrobotics/labelCloud/ffrpointclouds/first.pcd!
=================================================================

but the point cloud is not displayed.
( I was able to see the point cloud defined in exemplary.ply).

here's the display
labelcloud2

please advise
Omer.
@ch-sa
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ch-sa commented Nov 22, 2021 •
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Hi @omerbrandis,

wow, this seems like a very large point cloud.

It zooms out quite a lot and the closest points are very likely clipped by the far_plane.

So you can try setting your far_plane to a larger value in the config (maybe your pc can handle the 2500 zoom).

Otherwise you can increase the zoom step (std_zoom to 10 or 100) in the config and zoom inside.

But I really need to limit the initial zoom to maximum of the far_plane (here -300). Maybe I find the time to do it tonight.

Best regards,

Christoph

@ch-sa ch-sa self-assigned this Nov 22, 2021
@ch-sa ch-sa added question Further information is requested feature New feature or request labels Nov 22, 2021
ch-sa added a commit that referenced this issue Nov 22, 2021
@ch-sa
Limit initial zoom to far_plane
2ad2d51 
 - take minimum of diagonal and 0.9 * far_plane

 Closes: #39
 Relates: #36
@ch-sa ch-sa mentioned this issue Nov 22, 2021
Merged
@ch-sa ch-sa closed this as completed in #40 Nov 22, 2021
@ch-sa
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ch-sa commented Nov 22, 2021

Fixed and merged it on master.

Please pull the newest version and tell me if it fixed your issue. If not feel free to reopen.

@omerbrandis
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hello Christoph,
thank you very much for the quick response.

I have pulled the lastest version, and I am able to see the point cloud :-)

but :

  1. zooming (in/out) is too slow, is there a way to increase the zoom "speed" ?

  2. It seems that at any given time, i can't see the entire point cloud, when I zoom out , the "farthest" points are "deleted" from the view.
    is there a way to change this behavior?

  3. its very hard to understand what i'm seeing , can axis information be added ?
    ( I've toggled the "show floor" feature, it did not have any effect ).

( btw, regarding your remark about the pcl size.
these are my fist steps with pcd ,
but the data is taken from 2 images (res 1280X720) of an rgbd camera, its about 25% of the total pixels available.
my true intent is to build a pcl from more than 50 images (maybe even 100) , the "total space covered"(max values for x,y,z) will be about 1200 X 3300 X 1000 , these represent millimeters in the real world).

thanks,
Omer.

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Limit initial zoom to far_plane ch-sa/labelCloud
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@omerbrandis @ch-sa