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rviz with pcl::PointCloud<T>

asked 2011-11-25 16:22:50 -0500

Aditya gravatar image

updated 2011-11-25 16:23:35 -0500

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!

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answered 2011-11-26 06:34:23 -0500

Aditya gravatar image

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.

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unfortunately you never updated the answer ... :(

brice rebsamen gravatar image brice rebsamen  ( 2013-09-09 08:40:47 -0500 )edit
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answered 2017-12-04 08:35:07 -0500

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.

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Asked: 2011-11-25 16:22:50 -0500

Seen: 2,624 times

Last updated: Dec 04 '17