no result in rviz

[vo8zhaoyao]

Hello, I try to run roslaunch KITTI.launch, and choose topic pointcloud2, but nothing present in rviz. It shows warning on the screen "[ WARN] [1605856260.140396167]: Nothing to publish, octree is empty" How can I solve it? Thank you!

[DanielaEsparza]

Hello, to visualize the point cloud using pointcloud2, you must enter the depth image. If you prefer to try with a stereo camera, you can run the STEREO_RealTime.launch. Sorry for the delay.

[vo8zhaoyao]

Hello, to visualize the point cloud using pointcloud2, you must enter the depth image. If you prefer to try with a stereo camera, you can run the STEREO_RealTime.launch. Sorry for the delay.

Thank you for your reply！I have solved the problem. And I can save the octomap as ***.ot/bt file, then use octovis to make it visualize. I am curious about how to display the map in real time as shown in your video? Your video and research work impress me a lot!! Thank you!

[WChenxu2018]

Hello, to visualize the point cloud using pointcloud2, you must enter the depth image. If you prefer to try with a stereo camera, you can run the STEREO_RealTime.launch. Sorry for the delay.

Thank you for your reply！I have solved the problem. And I can save the octomap as ***.ot/bt file, then use octovis to make it visualize. I am curious about how to display the map in real time as shown in your video? Your video and research work impress me a lot!! Thank you!

Hello, I have met the same problem. I can not see the octomap in rviz. How do you save the octomap as .bt file? Thank you!

[DanielaEsparza]

Hello, to visualize the point cloud using pointcloud2, you must enter the depth image. If you prefer to try with a stereo camera, you can run the STEREO_RealTime.launch. Sorry for the delay.

Thank you for your reply！I have solved the problem. And I can save the octomap as ***.ot/bt file, then use octovis to make it visualize. I am curious about how to display the map in real time as shown in your video? Your video and research work impress me a lot!! Thank you!

Hello, I have met the same problem. I can not see the octomap in rviz. How do you save the octomap as .bt file? Thank you!

Hi, that may be due to the format of your depth image. You could try commenting out lines 243 and 244 of the tracking.cc file.

[DanielaEsparza]

Hello, to visualize the point cloud using pointcloud2, you must enter the depth image. If you prefer to try with a stereo camera, you can run the STEREO_RealTime.launch. Sorry for the delay.

Thank you for your reply！I have solved the problem. And I can save the octomap as ***.ot/bt file, then use octovis to make it visualize. I am curious about how to display the map in real time as shown in your video? Your video and research work impress me a lot!! Thank you!

Hi, it depends on the characteristics of your computer but you can vary the maximum values ​​of the point cloud from the octomap.launch file, this will make you map more or fewer points from the point cloud

[vo8zhaoyao]

Hello, to visualize the point cloud using pointcloud2, you must enter the depth image. If you prefer to try with a stereo camera, you can run the STEREO_RealTime.launch. Sorry for the delay.

Thank you for your reply！I have solved the problem. And I can save the octomap as ***.ot/bt file, then use octovis to make it visualize. I am curious about how to display the map in real time as shown in your video? Your video and research work impress me a lot!! Thank you!

Hello, I have met the same problem. I can not see the octomap in rviz. How do you save the octomap as .bt file? Thank you!

Hello, sorry for the delay, if you cannot see the octomap in rviz, you may refer to some issues and answers in DS-SLAM. If you want to save the octomap as .bt file, you may refer to the link below(especially 2.4 octomap_saver). http://wiki.ros.org/octomap_server

Best

[DaDDong]

你好，要使用pointcloud2可视化点云，必须输入深度图。如果您更喜欢使用立体摄像机，可以运行 STEREO_RealTime.launch。 抱歉耽搁了。 Hello, I am running tum Launch uses rgb-d datasets, and also can't see the results using pointcloud2. How can I solve it? Looking forward to your reply!