rviz to plot a plane with known (x,y,z) points

asked 2017-11-03 19:32:28 -0500

robot_commander
25 ●5 ●6 ●12

updated 2017-11-04 17:12:59 -0500

Hi guys,

I have a list of (x,y,z) points all of which lie on the same plane. I need to visualize this plane on rviz with these points.

I googled on how to make a plane on rviz and someone mentioned making a cube but reduce a dimension so that it becomes a plane. Now, for a cube, we give a point which will become its center. But I have a bunch of (x,y,z) points that I need to visualize as a plane in rviz. How do I go about doing this? Any thoughts would be welcome.

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answered 2017-11-05 02:51:27 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2017-11-05 02:52:23 -0500

The other answers contain some good pointers, but I would recommend you try out davetcoleman/rviz_visual_tools. It already provides you with the infrastructure to get RViz to render planes (in addition to all sorts of other geometric shapes).

rviz visual tools .

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oh wow. this is great! I'll check it out, thank you!

robot_commander ( 2017-11-05 23:42:40 -0500 )edit

I found this git repo which builds on davetcoleman/rviz_visual_tools and gives me a python implementation of publishing markers.

robot_commander ( 2017-11-06 12:17:32 -0500 )edit

The Python lib is a good find, but notice that the last commit was already almost 2 years ago. rviz_visual_tools has seen some development since that time, so you might want to check whether the Python lib is missing something.

gvdhoorn ( 2017-11-06 12:33:30 -0500 )edit

ahhhh. I see. ok I'll look at it. Thank you very much for all your help! :)

robot_commander ( 2017-11-06 17:18:35 -0500 )edit

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answered 2017-11-04 03:05:53 -0500

NEngelhard
3519 ●24 ●58 ●89

I would suggest to use the TriangleList as MarkerType. Do you have a triangulation of your points?

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oh you mean, like to make a triangle with three points and increase the scale to visualize?

robot_commander ( 2017-11-04 16:10:44 -0500 )edit

ok so I tried making it a triangle and increasing the scale. Now I'm curious as to how the scale affects the triangle_list marker type. so what does scale.x, scale.y and scale.z do specifically in triangle_list marker type?

robot_commander ( 2017-11-04 17:12:04 -0500 )edit

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answered 2017-11-05 01:30:14 -0500

jinseoi

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As far as I'm concerned, it will be better to compute the plane's normal vector and center first by the list of points you mentioned. Then you can make a two-dimensional cube with normal vector and center like the way you have googled.

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rviz to plot a plane with known (x,y,z) points

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