3D-to-2D-Projector

ROS package that projects a 3D point and its unit vectors onto camera using KITTI rosbag

1. Prerequisites

This package has been tested with Ubuntu 20.04, ROS Noetic and OpenCV 4.

• C++11 or higher
• ROS
• Eigen3
• OpenCV 4 (3 might be supported as well but not tested)
• kitti2bag (for KITTI rosbag)

2. Building

Clone the repository in your home:

    cd ~
    git clone https://github.com/gizemasya/3D-to-2D-Projector.git

Build the package with:

    cd 3D-to-2D-Projector/
    catkin_make
    source ~/3D-to-2D-Projector/devel/setup.bash

3. Usage

Firsly, run the node:

    rosrun projecting_frames_pkg Pinhole

In another terminal, start playing the KITTI rosbag:

    cd ~
    rosbag play kitti_2011_09_26_drive_0002_synced.bag

4. Setting Parameters (Optional)

To set your desired point in 3D, you can change the values of origin_of_temp_in_world_ and rotation_of_temp_in_world_ variables from Pinhole.cpp line 3.

• origin_of_temp_in_world_ variable takes x,y,z coordinates of the 3D point relative to the world frame.
• rotation_of_temp_in_world_ variable is a quaternion represents the rotation of the 3D point relative to the world frame, takes x,y,z,w as parameters.