Note: This tutorial assumes that you have completed the previous tutorials: First Steps, Parameters.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Visualizing Data

Description: This tutorial introduces some utility scripts for visualizing data from Ensenso cameras.

Tutorial Level: BEGINNER

Next Tutorial: Using the Ensenso Urdf Files

Camera Views

All image topics of the camera node are camera publishers from the image_transport package. In addition to the image, they also publish the camera calibration. This means that you can display them as a camera view in RViz, aligning the image with the point cloud or any other data in the scene.

Textured Point Clouds

The texture_point_cloud node can texture point clouds using data from the rectified camera images. The easiest way of using it is to launch the texture_point_cloud launch file.

$ roslaunch ensenso_camera texture_point_cloud.launch

This launch file bundles a texture_point_cloud node together with an image_stream node that periodically requests rectified images from the camera. Whenever you request a point cloud from the camera node that is published on /point_cloud, the node will automatically texture it and republish the result on /textured_point_cloud.

Visualizing Calibration Patterns

The pattern_marker node periodically captures images and searches for calibration patterns.

$ rosrun ensenso_camera pattern_marker

When it finds patterns, it creates RViz markers at their pose and publishes them on /pattern_marker.

Visualizing Planes

The fit_primitive sample node periodically acquires point clouds and searches for planes via RANSAC algorithm in the scene. It creates a RViz markerArray visualizing the found planes and publishes them under the /primitive_markers topic.

$ rosrun ensenso_camera fit_primitive

Wiki: ensenso_driver/Tutorials/Visualizations (last edited 2019-12-09 11:25:04 by YasinGuenduez)