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rviz - storing point cloud selection

asked 2013-11-11 01:29:59 -0600

sebastianh gravatar image


using the "select" tool in rviz you can easily select points from a point cloud. The selected points will then show up in the selection panel.

My question is: Is there any possibility to export this selection? E.g. store the indices in a file? Or republish them on a different topic?

The reason is I would like to manually segment a point cloud in rviz in order to provide ground truth for comparing it to a segmentation algorithm.

I believe one idea would be to write an rviz plug-in for this. But I wonder, whether somebody has already stumbled upon this problem and found an easy solution (less hacky than

Best, Sebastian

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answered 2013-11-24 22:39:59 -0600

pBartels gravatar image

updated 2019-11-26 08:16:22 -0600

fivef gravatar image


finally we wrote a plugin, as there is no such feature in RVIZ. It provides a new tool that inherits all features of the default 'select' tool and additionally publishes all selected points on the ros topic '/selected_points'.

It can be found at:

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hi pBartels! Can you share the link to your usefull plugin please? The old link is not working.

Thank you!

MSD gravatar image MSD  ( 2015-07-23 09:20:53 -0600 )edit

You can use the following link:

Rasoul gravatar image Rasoul  ( 2015-07-30 15:18:31 -0600 )edit

Hi, just implemented the plugin, but crashes upon doing the selection printing some storage-access-failure in the terminal. Anybody got an idea? I'm running ROS kinetic 1.12.7 thx in advance ^^

hndrk gravatar image hndrk  ( 2017-10-04 08:13:47 -0600 )edit

answered 2017-05-08 03:14:46 -0600

sai gravatar image

updated 2017-05-08 03:16:21 -0600

Go to the Top menu in RVIZ and click on Panels. Under the Panels, tick Selection. Once Selection is enabled, it adds a new Panel called Selection. Then on the RVIZ gui press on select option which is beside Move Camera option.

Then whatever points you select on the point cloud will displayed in the Selection panel.

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answered 2013-11-12 07:34:53 -0600

sudhanshu_mittal gravatar image

There is no such direct method for point cloud selection in the RVIZ itself as far as I know. But, there is a open source annotation tool called "LabelMe" available for labeling the point cloud. This toolbox is created by CSAIL MIT lab and widely used by many people for providing ground truth values for segmentation problem.

LabelMe3D Toolbox link to website

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Asked: 2013-11-11 01:29:59 -0600

Seen: 5,004 times

Last updated: Nov 26 '19