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trying Camera in Rviz, transform?

asked 2013-07-10 20:18:27 -0500

Gazer gravatar image

Hi all.

There are videos on youtube where people manually moving the camera, and use Rviz to visualize the pointscloud, images etc. But to view the pointscloud 2, Rviz acutally requires transform of /map to /[name of the camera_frame]

I do have a camera working. I am wondering how should I archeive such requirement?

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answered 2013-07-10 21:58:54 -0500

po1 gravatar image

You need to have your camera localized with respect to the world. /map is the conventional frame name associated with the world. You need a SLAM node (or whatever that can localize the position of the camera in the world) that will publish the transform from /map to /your_camera_frame.

I suggest you have a look at rgbdslam, that will probably help you obtain what you want with very little effort.

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answered 2013-07-10 22:09:57 -0500

To see pointcloud on rviz u need to define transform. According to ur question, I guess pointcloud is getting published in camera frame. Now either in rviz u can make ur camera frame as fixed frame or define a fix transform between camera frame and fixed frame like "/map". To define a fix frame u can use following terminal command. rosrun tf static_transform_publisher 0 0 0 0 0 0 map camera_frame 100

Hope this helps

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Asked: 2013-07-10 20:18:27 -0500

Seen: 149 times

Last updated: Jul 10 '13