From 7ac49a928703bfed9c1c525fbcf8298448dc6ccd Mon Sep 17 00:00:00 2001 From: Erik Reed Date: Wed, 21 Oct 2020 10:49:50 -0700 Subject: [PATCH] Add color requirement note for point_cloud_viewer (#1424) I was running through these docs and having [trouble](https://github.com/googlecartographer/point_cloud_viewer/issues/389) with map visualization via `point_cloud_viewer`. Notably, color is required for plys ingested by `point_cloud_viewer` (in contrast to Meshlab). This PR adds a note to make this clear. Signed-off-by: Erik Reed --- docs/source/assets_writer.rst | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/docs/source/assets_writer.rst b/docs/source/assets_writer.rst index de936d6..c5e2cf1 100644 --- a/docs/source/assets_writer.rst +++ b/docs/source/assets_writer.rst @@ -105,7 +105,7 @@ The available ``PointsProcessor``\ s are all defined in the `cartographer/io`_ s * **voxel_filter_and_remove_moving_objects**: Voxel filters the data and only passes on points that we believe are on non-moving objects. * **write_pcd**: Streams a PCD file to disk. The header is written in 'Flush'. * **write_ply**: Streams a PLY file to disk. The header is written in 'Flush'. -* **write_probability_grid**: Creates a probability grid with the specified 'resolution'. As all points are projected into the x-y plane the z component of the data is ignored. 'range_data_inserter' options are used to cofnigure the range data ray tracing through the probability grid. +* **write_probability_grid**: Creates a probability grid with the specified 'resolution'. As all points are projected into the x-y plane the z component of the data is ignored. 'range_data_inserter' options are used to configure the range data ray tracing through the probability grid. * **write_xray_image**: Creates X-ray cuts through the points with pixels being 'voxel_size' big. * **write_xyz**: Writes ASCII xyz points. @@ -126,6 +126,7 @@ An example of such a pipeline is in `assets_writer_backpack_2d.lua`_. .. _assets_writer_backpack_2d.lua: https://github.com/cartographer-project/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua Once you have the ``.ply``, follow the README of `point_cloud_viewer`_ to generate an on-disk octree data structure which can be viewed by one of the viewers (SDL or web based) in the same repo. +Note that color is required for ``point_cloud_viewer`` to function. .. _point_cloud_viewer: https://github.com/cartographer-project/point_cloud_viewer