Whenever I am using filters:=colorizer in RVIZ I am not able to see pointcloud

[ranjitkathiriya]

Hey there,

roslaunch realsense2_camera rs_rgbd.launch filters:=colorizer align_depth:=true

In this command, the point cloud is not visible. If I remove filters:=colorizer then point cloud is visible. I have checked in 2-3 version I have faced the same issue. Is there any way that I can see filters:=colorizer and point cloud both in rviz?

And While running this I am getting this below error also...

[ERROR] [1621439543.169249790]: Depth image has unsupported encoding [rgb8]
[ERROR] [1621439548.204060633]: Depth image has unsupported encoding [rgb8]
[ERROR] [1621439553.219091850]: Depth image has unsupported encoding [rgb8]
[ERROR] [1621439558.220470478]: Depth image has unsupported encoding [rgb8]

[MartyG-RealSense]

i @ranjitkathiriya If the problem that you are encountering is that you cannot achieve a color pointcloud in RViz, a RealSense user found that the solution that worked for them was to follow the advice in the link below to adjust the PointCloud2 settings for 'Color Transformer' in RViz from "Intensity" to "RGB8" and then change the style to points.

#975 (comment)

[ranjitkathiriya]

Perfect now working! thanks

[MartyG-RealSense]

Great news @ranjitkathiriya - thanks very much for the update!

[ranjitkathiriya]

Sorry! @MartyG-RealSense ,

If I am using roslaunch realsense2_camera rs_rgbd.launch filters:=colorizer,pointcloud align_depth:=true pointcloud_texture_stream:=RS2_STREAM_COLOR at that time I am getting point of is_dense= true but I wanted is_danse:=false. I think rs_rgbd.launch I am getting empty points, yes I was getting the pointcloud but they were of unorganized cloud is dense, so is_dense = true. I want depth_register point cloud and colorized depth stream

[MartyG-RealSense]

I believe that this subject is related to an earlier discussion about organized and unorganized point clouds that we had in December 2020. In it was stated "An organized cloud has invalid points and so is_dense = false".

#1563

You could try setting the point cloud filter parameter ordered_pc to be true. This setting was added in ROS1 wrapper 2.2.22 and ROS2 wrapper 3.1.4.

[ranjitkathiriya]

Thanks! got my answer.. was not knowing of this update. once again thanks