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Required tf for overlaying laser on image using Camera display type.

asked 2012-08-07 19:36:55 -0500

Hyon Lim gravatar image

Hi. I'd like to display laser scanner on captured image in rviz using Camera display type. (as like http://www.ros.org/wiki/rviz/DisplayTypes/Camera)

I have published following tf.

<node pkg="tf" type="static_transform_publisher" name="laser_to_camera" args="0.05 0.0 0.0 0.0 0.0 0.0 /laser /camera 1"/>

Also camera_info is properly published. Also image is okay. I can see some axis on image but not laser line.

Any suggestions?

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answered 2012-08-07 21:57:24 -0500

updated 2012-08-07 22:01:18 -0500

Provided the tf transforms are correctly set up and the scanner is outputting laser_scan data, this should work. A few things you could check:

  • Check that tf is working

  • Do you see other visualization elements in the camera view? (i.e. the grid, the arrow pointer when giving a 2D nav goal etc.)

  • Have you set the fixed frame in rviz properly?

  • Does it work with other robots/launch files? The Turtlebot or hector_quadrotor gazebo simulations for instance can be used to quickly check that.

  • Is your camera calibrated correctly? The camera view rectifies images, so this has to be correct.

  • Finally, be sure that you have set the "Overlay Alpha" of your camera view to something like 0.5.

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My fault was that the camera should be z-forward. :-)

Hyon Lim gravatar image Hyon Lim  ( 2012-08-08 03:58:22 -0500 )edit

Hi, it passed quite a while.. anyway. I guess I'm facing the same problem. How did you finally solved the "z-forward camera" thing?

danny gravatar image danny  ( 2016-07-16 14:16:23 -0500 )edit
2

REP-103 specifies that the coordinate frame reported by a camera should have the z-axis of the frame pointing in the direction that the camera is looking.

ahendrix gravatar image ahendrix  ( 2016-07-16 14:30:12 -0500 )edit

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Asked: 2012-08-07 19:36:55 -0500

Seen: 1,100 times

Last updated: Aug 07 '12