rviz to plot a plane with known (x,y,z) points

Question

Hi guys,

I have a list of (x,y,z) points all of which lie on the same plane. I need to visualize this plane on rviz with these points.

I googled on how to make a plane on rviz and someone mentioned making a cube but reduce a dimension so that it becomes a plane. Now, for a cube, we give a point which will become its center. But I have a bunch of (x,y,z) points that I need to visualize as a plane in rviz. How do I go about doing this? Any thoughts would be welcome.

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Originally posted by robot_commander on ROS Answers with karma: 25 on 2017-11-03

Post score: 1

Answer 1

The other answers contain some good pointers, but I would recommend you try out davetcoleman/rviz_visual_tools. It already provides you with the infrastructure to get RViz to render planes (in addition to all sorts of other geometric shapes).

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Originally posted by gvdhoorn with karma: 86574 on 2017-11-05

This answer was ACCEPTED on the original site

Post score: 2

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Original comments

Comment by robot_commander on 2017-11-06:
oh wow. this is great! I'll check it out, thank you!

Comment by robot_commander on 2017-11-06:
I found this git repo which builds on davetcoleman/rviz_visual_tools and gives me a python implementation of publishing markers.

Comment by gvdhoorn on 2017-11-06:
The Python lib is a good find, but notice that the last commit was already almost 2 years ago. rviz_visual_tools has seen some development since that time, so you might want to check whether the Python lib is missing something.

Comment by robot_commander on 2017-11-06:
ahhhh. I see. ok I'll look at it. Thank you very much for all your help! :)

Answer 2

I would suggest to use the TriangleList as MarkerType. Do you have a triangulation of your points?

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Originally posted by NEngelhard with karma: 3519 on 2017-11-04

This answer was NOT ACCEPTED on the original site

Post score: 1

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Original comments

Comment by robot_commander on 2017-11-04:
oh you mean, like to make a triangle with three points and increase the scale to visualize?

Comment by robot_commander on 2017-11-04:
ok so I tried making it a triangle and increasing the scale. Now I'm curious as to how the scale affects the triangle_list marker type. so what does scale.x, scale.y and scale.z do specifically in triangle_list marker type?

Answer 3

As far as I'm concerned, it will be better to compute the plane's normal vector and center first by the list of points you mentioned. Then you can make a two-dimensional cube with normal vector and center like the way you have googled.

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Originally posted by jinseoi with karma: 21 on 2017-11-05

This answer was NOT ACCEPTED on the original site

Post score: 1