How to visualize surface normal of kinect data using PCL in ROS?

Question

I am trying to get surface normal from my kinect2 data using PCL in ROS. I am having trouble in visualizing normal data.

I am using Following Viewer to view real time point cloud.

I have added point normal code of PCL to this code to calculate and visualize normal.

I am getting following runtime error:

ERROR: In /home/chandan_main/Downloads/VTK-7.1.0/Rendering/OpenGL2/vtkOpenGLPolyDataMapper.cxx, line 1794
vtkOpenGLPolyDataMapper (0xa1ea5e0): failed after UpdateShader 1 OpenGL errors detected
  0 : (1281) Invalid value


[pcl::IntegralImageNormalEstimation::setInputCloud] Input dataset is not organized (height = 1).
[pcl::IntegralImageNormalEstimation::initCompute] Input dataset is not organized (height = 1).
[addPointCloudNormals] The number of points differs from the number of normals!
[pcl::IntegralImageNormalEstimation::setInputCloud] Input dataset is not organized (height = 1).
[pcl::IntegralImageNormalEstimation::initCompute] Input dataset is not organized (height = 1).
[addPointCloudNormals] The number of points differs from the number of normals!
[pcl::IntegralImageNormalEstimation::setInputCloud] Input dataset is not organized (height = 1).
[pcl::IntegralImageNormalEstimation::initCompute] Input dataset is not organized (height = 1).
[addPointCloudNormals] The number of points differs from the number of normals!

Could you post the actual code you've included into your viewer? It seems like you didn't properly set your input cloud; or that Kinect2 data are not organized (in which case you can't use the normal estimation with integral images but use the "regular" method of normal estimation in PCL). — calocedrus
I am able to get the normal now...I have just used while(!viewer->wasStopped()) { viewer->spinOnce (100); boost::this_thread::sleep (boost::posix_time::microseconds (100000)); } becuse I was trying to get normal in real time...It was showing errors...I also rebuilt VTK library which had issues — Chandan Lal

Chandan Lal Chandan Lal · Accepted Answer · 2018-08-22T11:27:05

I am able to get the normal now.I have just used

while(!viewer->wasStopped()) { viewer->spinOnce (100); boost::this_thread::sleep(boost::posix_time::microseconds (100000)); }

becuse I was trying to get normal in real time.It was showing errors.I also rebuilt VTK library which had issues.

How to visualize surface normal of kinect data using PCL in ROS?

1 Answers