A Systematic Approach to Learning Robot Programming with ROS by Wyatt Newman

Author:Wyatt Newman [Newman, Wyatt]
Language: eng
Format: azw3, epub, pdf
Publisher: CRC Press
Published: 2017-09-13T04:00:00+00:00

one can visualize the 3-D data from stereo vision by adding a PointCloud2 display item and setting the topic to /stereocamera/points2. A screenshot of rviz displaying these points is shown in Fig 7.5. rviz, PointCloud2 display rviz, stereo imaging display

Figure 7.5 rviz view of three-dimensional points computed from stereo vision.

In Fig 7.5, the left-camera optical frame axes are shown, and the display’s reference frame is set to left-camera optical frame. Using rviz, one can select a patch of points and publish their 3-D coordinates using the PublishSelectedPoints tool. Figure 7.6 illustrates an example, zooming on the image approximately along the left-camera’s optical axis. The result of clicking and dragging on a patch in rviz is a publication of points of type sensormsgs/PointCloud2 on topic selectedpoints. To interpret these points, we can again run:

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