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Overview

Nodes

radar_camera_validation_node

Subscribes to input camera image and radar data topics, draws bounding boxes on the image corresponding to radar data for validation, and publishes the annotated image.

Subscribed Topics

radar_topic (ainstein_radar_msgs/RadarTargetArray)

• Radar detections (targets) to be used for in annotating the input image.

camera_topic (sensor_msgs/Image)

• Name of the camera topic corresponding to the input image to annotate with radar data. It is assumed that both sensor_msgs/Image and sensor_msgs/CameraInfo messages are published within this topic's namespace.

Published Topics

~image_out (sensor_msgs/Image)

• Annotated output image.

Parameters

~use_snr_alpha (boolean, default: false)

• Specifies whether to set target transparency based on SNR.

Required tf Transforms

<RADAR FRAME> → <CAMERA FRAME>

• TF transform describing the transform between the radar sensor and camera frames.