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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 <ereed.uw@gmail.com>
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Erik Reed 2020-10-21 10:49:50 -07:00 committed by GitHub
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docs/source/assets_writer.rst
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@ -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. * **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_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_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_xray_image**: Creates X-ray cuts through the points with pixels being 'voxel_size' big.
* **write_xyz**: Writes ASCII xyz points. * **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 .. _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. 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 .. _point_cloud_viewer: https://github.com/cartographer-project/point_cloud_viewer