rviz - storing point cloud selection

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

sebastianh
70 ●3 ●4 ●11

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

pBartels
76 ●2 ●2

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

fivef

2756 ●24 ●44 ●41

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

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

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

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

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

sudhanshu_mittal

311 ●4 ●9 ●9

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

sai
1925 ●58 ●75 ●86

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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