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rviz - storing point cloud selection

asked Nov 11 '13

sebastianh gravatar image

Hi,

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 http://answers.ros.org/question/12806/interactively-access-to-laser-point-in-rviz/)?

Best, Sebastian

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answered Nov 25 '13

pBartels gravatar image

updated Nov 26 '19

fivef gravatar image

Hello,

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: https://github.com/tu-rbo/turbo-ros-pkg

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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  ( Jul 23 '15 )edit
1

You can use the following link: https://github.com/tu-rbo/turbo-ros-pkg

Rasoul gravatar image Rasoul  ( Jul 30 '15 )edit
1

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  ( Oct 4 '17 )edit
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answered Nov 12 '13

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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answered May 8 '17

sai gravatar image

updated May 8 '17

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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Asked: Nov 11 '13

Seen: 5,267 times

Last updated: Nov 26 '19