python-pcl Visualize point clouds

[MrMoe830]

Operating System: Ubuntu18.04.5 PCL Version: python_pcl-0.3.0rc1 ROS Version: ROS Melodic

Hi, Dude, I am using python to subscribe to the point cloud topic information of type sensor_msgs/PointCloud2 that I publish in ROS, I hope I can visualize the point cloud data I subscribe to in real time, I think python-pcl can help me with this requirement, But in my experiment, my point cloud instance is as follows:

Part of my code looks like this:

    assert isinstance(data,PointCloud2)
    cloud_data=data
    pcd=pc2.read_points(cloud_data,field_names=("x", "y", "z",'rgb'),skip_nans=True)
    # pcd__=pc2.read_points(cloud_data,skip_nans=True)
    points=np.asanyarray(list(pcd))

    #-----------------------------------------------------------#
    print(points)

Part of the data I got is shown below,

[[-1.19102620e-01 -3.71957064e-01  6.77000046e-01 -2.79560098e+38]
 [-1.14831321e-01 -3.71957064e-01  6.77000046e-01 -2.82202957e+38]
 [-1.10723332e-01 -3.72506499e-01  6.78000033e-01 -2.70219014e+38]
 ...
 [ 4.69194031e+00  3.04746079e+00  5.54500008e+00 -2.56890368e+38]
 [ 4.70731783e+00  3.03482056e+00  5.52200031e+00 -2.46256483e+38]
 [ 7.49293423e+00  4.46704435e+00  8.12800026e+00 -2.54237185e+38]]
[[-1.23373926e-01 -3.71957064e-01  6.77000046e-01 -2.79565311e+38]
 [-1.19102620e-01 -3.71957064e-01  6.77000046e-01 -2.82249890e+38]
 [-1.10723332e-01 -3.72506499e-01  6.78000033e-01 -2.79518499e+38]
 ...
 [ 1.16458523e+00  1.26624882e+00  2.30400014e+00 -2.34282965e+38]
 [ 1.18116844e+00  1.26844716e+00  2.30800009e+00 -2.39620727e+38]
 [ 1.19572997e+00  1.26844716e+00  2.30800009e+00 -2.30269137e+38]]

I think the first three values ​​of each row of these data are the X, Y, Z values ​​of the point cloud, and the fourth value is the rgb value, but I don't understand why the rgb The value would be so large and negative, I thought the rgb value should be three independently represented values, But the data just shows an implausible RGB data value.

I visualize it with the following code：

    pcl_data = pcl.PointCloud_PointXYZRGB()
    pcl_data.from_array(np.asanyarray(points,dtype=np.float32))
    visual=pcl.pcl_visualization.CloudViewing()
    visual.ShowColorCloud(pcl_data)

But I got some images like this：

I think I must have made a mistake in some step, or I am missing some necessary steps, but I don't know what exactly is causing the problem, I need help, I would like to reply, thank you very much

Best wishes

[determinationK]

I have the same problem

[MrMoe830]

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[xiaoqiaowoai]

I have the same problem