Closed jediofgever closed 6 years ago
Hi,
What is the white colored plane in your visualization? That doesn't seem like the point cloud from your zed.
You could alternatively run stereo_image_proc
for obtaining the zed's point cloud and then fuse them together in rviz like you've done.
Another way of visualizing the results is described in #19 and #20
Hi, The white plane is depth cloud from left camera, the point cloud that I am going to receive from stereo_image_proc will be at the same frame with the one on white plane, so I don’t think it will solve my problem. However I will give it a try.
There is the section in your code , pointcloud_fusion.
But it is designed for fusing 2 camera point clouds. However I just want to fuse Lıdar and zed camera point clouds. Can you tell me how can I use that part of code for Lidar and one zed camera point cloud fusion ?
If you used the ZED SDK to obtain that depth cloud then that might be the problem since they use a different axes convention.
You can modify pointcloud_fusion
for your case by directly giving the final transform, provided you have the respective pcd files.
Right, I use zed sdk. Last question, I am not sure if the problem is the way I fuse data or the calibration parameters are not correct ?, Do the calibration parameters my program found seems reasonable ?
Your calibration parameters do seem correct to me.
The way you're verifying them in rviz is also correct, but like I said zed uses a different axes convention and not the standard convention. According to their convention x points forward, y towards the left, and z upward, which is the same as the velodyne's. The two initial rotations (about x and y) are not needed in that case.
But this package uses the standard ROS convention for the camera axes, which needs the initial rotations, and hence there's a mismatch in your output. I suggest you use stereo_image_proc and visualize it again.
I tried to use stereo_image_proc
, however I stuck on getting topics not synchronized error. Can you share your launch file that you use. such as roslaunch stereo_image_proc your.launch
Thank you
I guess you're missing camera_info
messages.
I do not have a launch file for stereo_image_proc
, I just run it from the command line with the __ns
argument.
Thank you for all the help. ! Got it working
Can you post your solution here for reference?
Here is the command I pass to get over of it ;
rosrun stereo_image_proc stereo_image_proc __ns:=zed _approximate_sync:=True
Hi, I run the package, and got results as shown below,![screenshot from 2018-03-30 19-58-31](https://user-images.githubusercontent.com/18460336/38137981-9b39952c-345a-11e8-986d-5c688c31b109.png)
I would like to visualize Lidar point clouds in Zed camera frame. So I do a static coordinate transformation with this command
rosrun tf static_transform_publisher -0.09122 -0.04545 -0.0432 1.48563 -1.5026 0.13215 zed_left_camera velodyne 100
the first three parameters are x y z for translation and the last three parameters are for yaw pitch roll angles.
However result look non relevant as shown below
marker_coordinates.txt Rosbag : https://drive.google.com/open?id=1HKqOUeIacSARwwUcCV6CU83fjTWr3OwI
Update; My setup![29831154_1700629523308503_861922818_o](https://user-images.githubusercontent.com/18460336/38138093-699947f0-345b-11e8-8568-e6b2d9fdc599.jpg)