how overlay pointcloud to image

asked 2019-10-15 08:15:19 -0600

lsy gravatar image

updated 2019-10-15 08:20:49 -0600

Hello,

I have bag file. Now I want to point cloud overlay to image. I see the solution here and want to use same way.

But have an Error :[ WARN] [1570714194.872738510]: MessageFilter [target=laser ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_notifier] rosconsole logger to DEBUG for more information. no image recive.

then I add fram camera to TF Tree, but the Error:CameraInfo/P resulted in an invalid position calculation (nans or infs)

what should I do?

thanks for the help!

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Comments

Maybe your camera isn't calibrated? Can you check your camera's cam_info topic and post one of the messages here (e.g. rostopic echo -n 1 /<camera name>/cam_info) ?

Jari gravatar imageJari ( 2019-10-15 11:07:45 -0600 )edit

thanks for the reply. here is the messages header: seq: 455 stamp: secs: 1565021948 nsecs: 310000000 frame_id: "camera" height: 1542 width: 2056 distortion_model: '' D: [] K: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] P: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] binning_x: 0 binning_y: 0 roi: x_offset: 0 y_offset: 0 height: 0 width: 0

do_rectify: False

lsy gravatar imagelsy ( 2019-10-16 06:26:54 -0600 )edit

There's at least one of your problems. You're camera is not calibrated which means an equation between where the pointclouds are in space and where they would end up in your image is not possible to evaluate. I would recommend looking into how to calibrate the camera and how to update the camera_info topic to include that info (refer to the camera's driver for this information as well)

Jari gravatar imageJari ( 2019-10-16 10:24:12 -0600 )edit