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Calibration of image and point cloud on rviz #335

Closed betsyweilin closed 6 years ago

betsyweilin commented 6 years ago

The problem of calibration of image and point cloud on rviz

Bug

Expected Behavior

To fusion point cloud and image frame like the video: https://www.youtube.com/watch?v=KhcEpT_3GB4

Actual Behavior

Only display point cloud on RVIZ

Steps to Reproduce the Problem

  1. Generate the Camera intrinsics file and Camera-LiDAR extrinsic calibration file,
  2. Play the rosbag and pause
  3. Launch Pixel-Cloud fusion node : Computing Tab -> Fusion -> pixel_cloud_fusion
  4. Publish topic(tf ,camera_info, extrinsic matrix): sensing-> calibration publisher , and points_image

  5. Resume to play the rosbag

    However, in Rviz, I can not get the video like https://www.youtube.com/watch?v=KhcEpT_3GB4, only like attachment. Any advice about that?

Specifications

Thanks WeiLin screenshot from 2018-10-09 12-57-22

amc-nu commented 6 years ago

Change the RVIZ Pointcloud visualization to use RGB data instead of intensity.