LiDAR Points Not Showing in interactive_camera_lidar_calibrator

[jahanifaruga]

Hi everyone,

I’m using interactive_camera_lidar_calibrator with a Velodyne LiDAR (/velodyne_points) and a Bumblebee camera (/Bumblebee_X/...). My camera image displays fine, but the LiDAR points never appear—despite “Render pointcloud” being checked and no errors in the console.

What I’ve done:

1. Echoed /velodyne_points to confirm data exists.
2. Published static transforms:
   • base_link → velodyne
   • base_link → bumblebee_camera
   • Optionally bumblebee_camera → camera_left_optical_frame
3. Launched the calibrator with:

   ros2 run interactive_camera_lidar_calibrator interactive_calibrator \
     --ros-args \
     -r pointcloud:=/velodyne_points \
     -r image:=/Bumblebee_X/.../rectified_left_image \
     -r camera_info:=/Bumblebee_X/.../left_camera_info \
     -p camera_frame:=bumblebee_camera \
     -p can_publish_tf:=false \
     -p use_calibration_api:=false \
     -p use_compressed:=false

4. Adjusted “marker size,” “marker color channel,” and “min/max distance.”

Still no points appear. Do I need a specific frame setup (e.g. camera_left_optical_frame)? Is there a trick to get the point cloud rendered?

Thanks!