Introducing Tools for Storing, Rendering and Annotating Triangle Meshes in ROS and RViz


We introduce a set of tools to make 3D environment mesh representations accessible and manageable in ROS. We provide RViz tools to visualize and annotate huge meshes in combination with generated textures and different cost layers, which are based on the geometric analyses of the environment, or which represent different sensor readings, e.g. RGB image or even hyper-spectral image textures.

Madrid, Spain