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
This plugin is an extension of the built-in PointCloud2 plugin, and likewise it receives messages of type
However, a new display style is present, named
Surfels, selectable using the
Style drop-down menu.
radius must be present in the point cloud. This requirement is compatible with the
pcl::PointSurfel point type from PCL (Point Cloud Library).
surfel_cloud_rviz_plugin was tested on ROS Kinetic and Melodic.