How to project the SLAM map onto Google map? about lio-sam

[TixiaoShan]

I see. Then there is gonna be a lot of coding involved. I don't know Google earth or map API. But I can imagine you probably need to send some images to it for visualization.

[kdaun]

For displaying satellite maps in rviz, take a look at rviz_satellite.

[TixiaoShan]

To do that, I use GIMP for pictures, Final Cut Pro for videos.

[nkliuhui]

Emmm, Okey! (I want to make a visual interface, which can project slam map onto Google map in real time)

[nkliuhui]

Thank you for you suggestion. I'll try it!

[nkliuhui]

For displaying satellite maps in rviz, take a look at rviz_satellite.

Thank you!

[YangSiri]

Anyone knows how to visualize the real-time factor graph, like the connection between two state? Thank you~

[cyborgdennett]

For displaying satellite maps in rviz, take a look at rviz_satellite.

Thank you!

Did you find out how to make it work, so you see the lio-sam map above the rviz_sattelite map?

[cyborgdennett]

Hello guys, I made some adjustments to make rviz_sattelite work with lio-sam

Here are the steps to reproduce.

Step 1

install rviz_sattelite under same catkin_ws as lio-sam.

Step 2

underneath /catkin_ws/src/LIO-SAM/launch/include/config/rviz.rviz

I added the following under Visualization Manager:.

I tried with zoom 20, which did not work. But zoom 19 works. osm zoom_levels

Class: ""
  Displays:
    - Alpha: 1
      Blocks: 3
      Class: rviz_plugins/AerialMapDisplay
      Draw Behind: true
      Enabled: true
      Name: AerialMapDisplay
      Object URI: https://tile.openstreetmap.org/{z}/{x}/{y}.png
      Topic: /gps/fix
      Value: true
      Zoom: 19
    - Class: rviz/Group
      Displays:
        - Class: rviz/TF
          Enabled: true
          Frame Timeout: 15
          Frames:
            All Enabled: true
            base_link:
              Value: true
            map:
              Value: true
          Marker Scale: 10
          Name: TF
          Show Arrows: true
          Show Axes: true
          Show Names: true
          Tree:
            map:
              base_link:
                {}
          Update Interval: 0
          Value: true

And changed the panels to:

Panels:
  - Class: rviz/Displays
    Help Height: 191
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /AerialMapDisplay1
        - /links1
        - /Odometry1
        - /Odometry1/Odom GPS1
        - /Point Cloud1
        - /Feature Cloud1
        - /Mapping1
      Splitter Ratio: 0.5600000023841858
    Tree Height: 663
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Tool Properties
    Expanded: 
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: "" 

output: (I recommend putting alpha variable of AerialDisplay pretty low so that the PointMap is still visible

[cyborgdennett]

Next step I want is: make a Path of the gps-coordinates so I can see the difference between the SLAM Path and gps-path. Anybody knows how to visualize the raw gps-coordinates into a Path?