Visualize a .ply file with a pointcloud in Rviz

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thanks, yes i know about the FAQ, i so decide to visualize not in real time the pointcloud using the "p" button and visualize before the mapping. all this cause i need to visualize the ponintcloud in Rviz... yet control the pointcloud with meshlab and it is all right, now i need to see it in Rviz...

So you want to take a previously recorded map (as .ply) and show it in RViz? As it said in the FAQ, this will only work for very small maps. You should write a small node that reads PLY and publishes PointCloud2. This will be useful: http://docs.pointclouds.org/trunk/cla...

i'm having some problems: for using functions that convert/visualize from a .ply file, i need the ply:io.h for the #include, but i don't have it in my pcl directory. i'm using ros hydro. somebody could helpe me?

This is the include you need:

#include <pcl/io/ply_io.h>

You can get it like this:

sudo apt-get install libpcl-io-1.7-dev

It should be installed here:

/usr/include/pcl-1.7/pcl/io/ply_io.h

i don't have pcl-1.7 this is probably the cause of the missing libraries... but i cannot find it for hydro, all i can find on github for hydro is: https://github.com/ros-perception/perception_pcl and libraries aren't in there

If you have ros-hydro-perception-pcl installed, you should also have the libpcl-* packages installed, since they are dependencies of ros-hydro-perception-pcl. What do you mean you cannot find it for hydro? Did you try the apt-get command from my last comment? Is the file there?

using catkin, i have only the same directories etc that you could see here https://github.com/ros-perception/perception_pcl. i'm doing it in the wrong way?? after i use catkin_make and it run, but without the lib ply and i cannot use your apt-get