Cloud window is not visible

ankitdhall / lidar_camera_calibration

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

http://arxiv.org/abs/1705.09785

GNU General Public License v3.0

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Cloud window is not visible #48

Closed sumanthpavuluri closed 6 years ago

sumanthpavuluri commented 6 years ago

Hi, Thanks for providing this module for lidar-camera calibration. The issue I have is when I roslaunch this module I don't see the cloud and polygon windows show up. I'm not using velodyne lidar but another lidar which has 40 rings as opposed to 16 rings that you use. Is there something specific about velodyne lidar that the code assumes?

Please let me know.

Thanks, Sumanth

karnikram commented 6 years ago

It works only for Velodyne LiDARs. The package needs ring id information which is provided only by the velodyne drivers. Check #42

sangych commented 6 years ago

@sumanthpavuluri Hello ! Did you do anything else when you use the Hesai-40 lidar? I run this package with velodyne HDL32, and faced the same issue seemed like yours here. I have make the synchronization with "rosbag play --clock ……"

ruichen-v commented 5 years ago

See #96. Hesai lidar publishes point cloud msg converted from a different point cloud structure. Besides, Hesai lidar driver by default doesn't publish wall time as time stamp, hence is out of sync with aruco mapping node. The windows will not pop up unless all the above issues are fixed. Also, change number of beams accordingly.