Rviz pointcloud2 alpha/size

asked 2017-11-12 02:47:54 -0600

StevenCoral gravatar image

Hi all, Couldn't find an answer on the web, although this does not seem to me as such an exotic issue.

I know about the option to color the point cloud by according to a given field in the cloud, but is it possible in any way to change either the size or alpha of the cloud based on a field? (e.g. bigger or stronger points with higher intensity).

Many thanks to whoever can help, and also to those who can't :)

Cheers, Steve

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This is purely for visualisation purposes, right? Afaict the PointCloud(2) display type doesn't support that. Might also make for a rather chaotic display.

But a PR that adds this would probably be considered.

gvdhoorn gravatar imagegvdhoorn ( 2017-11-12 06:19:07 -0600 )edit

Yup, its for visualization only. It would not be chaotic if max and min sizes/alphas would be editable. This is similar to changing the AxisColor colormap, which is also unavailable. PR you mean as a request? where can I send those?

StevenCoral gravatar imageStevenCoral ( 2017-11-12 08:47:38 -0600 )edit

It would not be chaotic if max and min sizes/alphas would be editable

I'm not sure. Pointclouds can be pretty noisy, and even with set min-max values that could lead to rapidly changing cloud visualisation.

PR you mean as a request?

no :) as a contribution (ie: you implement it).


gvdhoorn gravatar imagegvdhoorn ( 2017-11-12 08:50:18 -0600 )edit


where can I send those?

ros-visualization/rviz is the repository for all things RViz.

gvdhoorn gravatar imagegvdhoorn ( 2017-11-12 08:51:10 -0600 )edit

Thanks, I would love to but I haven't the slightest idea where to start. I'm not a developer (heck, not even a programmer) so I tend to get lost inside codes.

StevenCoral gravatar imageStevenCoral ( 2017-11-13 06:27:24 -0600 )edit

Well you could post an issue and mark it clearly as an 'enhancement request'.

But then someone else would have to pick that up and implement it. As most people are quite busy working on their own stuff already, I imagine it could take a while before your suggestion would be implemented.

gvdhoorn gravatar imagegvdhoorn ( 2017-11-13 06:29:47 -0600 )edit