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You can send markers to rviz from your program. There are different markers available - lines, polygons, cubes, etc. The markers will probably be flexible enough to be able to represent the 2D and 3D data you are interested in.

You can send markers to ~~rviz~~ rviz from your program. There are different markers available - lines, polygons, cubes, etc. The markers will probably be flexible enough to be able to represent the 2D and 3D data you are interested in.

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