Efficiently visualize large number of detections while supporting Rviz's selection API

asked 2020-07-22 09:12:31 -0500

josifvs gravatar image

I would like to create custom rviz display for my detection list. Display should visualize detections as points and should support selection of that visualization (with custom attributes on selection). This can be done creating separate detection Ogre object for visualization and link it with selection handler. This approach works but it is to slow for large number of detections (hundred thousands of detections).

Idea is to somehow copy all detections on GPU, do all processing with shaders (fragment and geometry), and somehow link this visualization with selection handler.

Is this possible at all in rviz at this moment?

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