Visualize 3D objects and useful informations onto the 2D image

[kaancolak]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Visualize useful autoware topics onto the 2D image.

Example topics:

• 3D Bounding boxes of objects
• Trajectory of the ego vehicle
• Road boundaries

Purpose

Enhance debug options and increase the visualization capacity of autoware.

Possible approaches

Create module will subscribe to relevant topics and image/camera_info messages. Transform relevant information to the image plane and visualize on in the 2D image.

Definition of done

• Module implemented
• Documentation prepared

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[miursh]

Is rviz camera tool not enough for your usecase?
It shows like the pic below

[xmfcx]

@miursh does it not lag behind? Can you also share a video recording of perception boxes projected onto images?

[stale]

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[palas21]

I’ve implemented a solution. You can see it in this video.

[palas21]

Here you can see the result of the same bag with the rviz camera plugin.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.