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Is it possible to display a PCL point cloud of type pcl::PointCloud<T>, where T is a custom class, in rviz? Specifically, are there any requirements/limitations on the custom class T for it to play nice with rviz? It seems that the pcl_visualizer does provide a framework for displaying pcl::PointCloud<T> data through custom handlers. Thanks!
I think I have found an answer to my question. Please check the following link for details:
http://www.ros.org/wiki/pcl_ros
Section 4 "ROS C++ Interface" on the above web-page clearly mentions how it can be achieved. I still need to try it out and will update the answer once I can successfully visualize my pcl::PointCloud<T> data in rviz.
I've just come across this question, while doing the same thing myself. So just in case anyone else finds this question I'll describe the solution.
If you need a point cloud to represent some custom point type beyond the standard options built into PCL (XYZ, XYZRGB, XYZI, etc) You have to define a custom PCL point type with the same behaviours as the built in types. Luckily there is a good tutorial showing you how to do this here:
PCL Custom Point Type Tutorial
If you follow this fairly straightforward tutorial then create and publish a point cloud with this new type this it will be shown in RVIZ fine including a drop down of the addition variables which are now stored for your custom point type.
Asked: 2011-11-25 16:22:50 -0600
Seen: 3,435 times
Last updated: Dec 04 '17
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