color_cloud

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

##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)