[ros-users] surfels and rviz

Josh Faust jfaust at willowgarage.com
Wed Feb 2 18:57:52 UTC 2011

To do this in rviz, ogre_tools::PointCloud would need to be updated to
support the extra information, and the point cloud transformers would need
to get updated to support normals.  My (discontinued, though someone else
may pick it up) work on rve (http://www.ros.org/wiki/visualization_engine)
includes support for per-point color/normal/scale, so that may be a good
starting point if you're looking for rendering code.  Specifically,


2011/2/2 Stéphane Magnenat <stephane.magnenat at mavt.ethz.ch>

> Hello,
> In the continuation of our work with the kinect, we are interested at
> looking into combining multiple scans using surfels. Surfels [1] are
> oriented surface elements (point+normal+radius), and typically hold
> color information and view statistics, to provide intelligence to the
> update process. Recent works [2,3] tend to indicate that surfels are
> well-suited for RGB-D sensors such as the kinect.
> We are interested in adding surfel support to rviz/ros. To that end, it
> would be nice to agree on a naming convention for surfels, maybe to add
> a corresponding type to pcl/point_types.hpp, and to add support in rviz.
> Are there other people around interested in surfels? Are there some best
> practice on how to extend the PointCloud(2) support in rviz?
> Thank you, kind regards,
> Stéphane
> [1] Pfister et al., Surfels: surface elements as rendering primitives
> http://www.cg.inf.ethz.ch/Downloads/Publications/Papers/2000/p_Pfi00.pdf
> [2] T Weise et al., In-hand Scanning with Online Loop Closure
> http://www.mmp.rwth-aachen.de/publications/pdf/weise-onlineloopclosure-3dim09.pdf
> [3] Henry et al. - RGB-D Mapping: Using Depth Cameras for Dense 3D
> Modeling of Indoor Environments
> http://www.seattle.intel-research.net/RGBD/RGBD-RSS2010/papers/henry-RGBD10-RGBD-mapping.pdf
> --
> Dr Stéphane Magnenat
> http://stephane.magnenat.net
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