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Surfel Cloud RViz Plugin

Plugin for the ROS (Robot Operating System) visualizer RViz, to display surfel clouds. Surfel clouds are point clouds where each point has a normal and a radius, i.e., it represents a small oriented disk.

This plugin adds a new display type, named SurfelCloud.

This plugin is an extension of the built-in PointCloud2 plugin, and likewise it receives messages of type sensor_msgs/PointCloud2. However, a new display style is present, named Surfels, selectable using the Style drop-down menu.

The fields normal_x, normal_y, normal_z and radius must be present in the point cloud. This requirement is compatible with the pcl::PointSurfel point type from PCL (Point Cloud Library).

The surfel_cloud_rviz_plugin was tested on ROS Kinetic and Melodic.

2019-08-08

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Plugin to display surfel clouds in the ROS visualizer RViz

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