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color_cloud

This package can map colors from cameras onto pointclouds, giving you a colored pointcloud!

color_cloud

##To get started:##

  • edit the color_cloud.launch file to reflect your setup
  • roslaunch color_cloud color_cloud.launch

##Launch Parameters##

  • fov_width: field of view width of your camera (0 < x < 180)
  • fov_height: field of view height of your camera (0 < x < 180)
  • width_offset: positive or negative pixel shift horizontally (+-#)
  • height_offset: positive or negative pixel shift vertically (+-#)

##Common problems##

  • Colored cloud wont display

    • is your pointcloud within the camera field of view (FOV)?
    • are your transforms set up properly?
  • My colors dont overlay the pointcloud

    • check if your transforms have the correct dimensions
    • try tweaking the fov and offset parameters in the launch file
    • make sure to use a rectified image for your image topic
  • My points are in the wong location

    • your camera frame must be setup following the camera standard
      • z-axis: into the screen
      • x-axis: pointing right
      • y-axis: pointing down

##Known issues##

  • will produce an xyzrgb pointcloud only
    • values such as intensity do not transfer over
  • error on startup (doesnt affect performance)

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Color a point cloud using cameras in ROS

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