Colorful 3d point cloud map

[maogic]

Hi Mathieu,

Can I export a 3D point cloud of the mapping environment with color? Fig.1 is the point cloud generated in RVIZ while mapping, which is colorful. Fig.2 is the point cloud I can export from the generated database using rtabmap-databaseViewer.
Can I get a colorful point cloud like in RVIZ from the generated database after mapping?








Many thanks!
Mao

[matlabbe]

Hi,

yes it should export with color. If you open the file in Meshlab, can you see colors?

[maogic]

Yes! Saving as ply and open using Meshlab, I can see the color.
Is this because I exported the point cloud as .pcd such that I can't see the color? or it is just the pcd browser I used cannot show the color?

[matlabbe]

The PCD should have colors too, even normals. Did you try the official pcl_viewer tool (installed with pcl) to visualize the PCD?

[maogic]

Yes, the second image shown in the original thread was opened using the official pcl_viewer. I exported the .pcd from the generated database and opened it using the pcl_viewer. It shows only one color.

[matlabbe]

Did you try Key 5 or 6?

[maogic]

Ha I see. Key 5 makes it colorful. Thanks matlabbe!