(sub)sample point cloud images rviz

Question

Hi all,

I'm trying to do a simple GUI with Rviz and my kinect, I uncommented the line to use Rviz in kinect+rgbdslam.launch file:

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rgbdslam)/launch/rviz_config.vcg" respawn="false" output="log" > </node>

I was "playing" with the configuration of Rviz and when I tried to add a pointscloud2 image (like enable Blue or White Display in rviz_config.vcg), but my Rviz application is freezing and I have to kill it because I cant do anything more.

I think it's because /camera/rgb/points or /camera/depth/points are sending too much datas and that's why I would like to subsampling it, by taking one image on two or even more. Does that it make sens to anyone? and is there a tutorial about rviz_config file?

Thanks for your help, I didn't find anything on this subject.

Cheers

Brioche

PS: I'm using electric on ubuntu 11.04.

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Originally posted by Brioche on ROS Answers with karma: 115 on 2012-06-11

Post score: 0

Answer 1

In addition to throttling the topic as @Felix Endres suggested, you could use a VoxelGrid filter to reduce the number of points in each message.

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Originally posted by Dan Lazewatsky with karma: 9115 on 2012-06-12

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by Brioche on 2012-06-12:
I'm new in ros, so I don't understand what should I do to reduce the number of points by using VoxelGrid filter. but anyway thanks for the help

Comment by Dan Lazewatsky on 2012-06-13:
There's a tutorial that gives an example of using a VoxelGrid for downsampling: http://www.ros.org/wiki/pcl_ros/Tutorials/VoxelGrid%20filtering

Comment by Brioche on 2012-06-13:
Thanks a lot, it's almost working perfectly. I'm now going to try to use octo_server.