gaowenliang / rviz_hybrid_imshow

a small tool for show hybrid image in rviz

rviz_hybrid_imshow:

rviz_hybrid_imshow is small tool to public a image as pointclouds.

To shown the image in RIVZ as background.

A example:

Authors: Wenlaing GAO

Build

Prerequisites

ROS

ROS on Ubuntu: ROS Installation.

Other ROS pacakge requisites: special version camera_model, code_utils.

Run with your device

1. camera intrinsic calibration

You can guess the intrinsic camera model, as shown in config/p4.yaml:

%YAML:1.0
---
model_type: PINHOLE
camera_name: p4
image_width: 1926
image_height: 1080
distortion_parameters:
   k1: 0.0
   k2: 0.0
   p1: 0.0
   p2: 0.0
projection_parameters:
   fx: 1166
   fy: 1166
   cx: 963
   cy: 540

2. Modify your launch file

As shown in launch/p4.launch:

• scale: distance of the background, m
• yaw: yaw of the camera, degree
• pitch: pitch of the camera, degree
• roll: roll of the camera, degree
• tx: x position of the camera, m
• ty: y position of the camera, m
• tz: z position of the camera, m

3. Launch your launch file

Launch your launch file, and subscribe the topic /rviz_hybrid_imshow/Pont. Then you get:

change the View Type as: FPS(rviz), and change the Position of the camera same as the position in launch file.

Get:

have fun.