Visualize pointcloud in ros
Hello I have now used gpu::reprojectImageTo3D on a found disparity image and received cv::Mat of the pointcloud. I would now like to display this pointcloud.
I could not find any method inside OpenCV, I therefore found RViz and/or pcl.
#I see two ways: Method 1:
Convert the found pointcloud from OpenCV to sensor_msgs/PointCloud2 and then publish this topic. Allowing me to view it through RViz.
Issues: I am running this on embedded platform Jetson TX1 and I have read that RViz is not performing that well on the board. Furhtermore I cannot find any explanation for the conversion between the two types.
Method 2:
Use pcl to display the pointcloud from inside the node just for debug purposes.
Issues: I am however unsure if this is even possible.
#Question
How do I display a pointcloud found in OpenCV?
