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color_point_cloud package from color-point-cloud repo

color_point_cloud

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Create color point clouds with ROS2
Checkout URI https://github.com/leo-drive/color-point-cloud.git
VCS Type git
VCS Version main
Last Updated 2024-01-15
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • bzeren

Authors

No additional authors.
README.md

color-point-cloud

Tool for colorize point cloud with images from camera. This tool takes a point cloud and dynamic number of images from camera via ROS2 and colorize the point cloud with the images.

Installation

Prerequisites

  • ROS2 (tested with Humble)
  • OpenCV
  • PCL
  • Eigen3

Build

mkdir -p ~/color-point-cloud_ws/src
cd ~/color-point-cloud_ws/src
git clone https://github.com/leo-drive/color-point-cloud
cd ..
colcon build --symlink-install

Usage

Run

source ~/color-point-cloud_ws/install/setup.bash
ros2 launch color_point_cloud color_point_cloud.launch.xml

Parameters

Change parameters in color_point_cloud.launch.xml to fit your environment.

Parameter Description
point_cloud_topic your lidar topic as string
point_cloud_frame_id your lidar topic as string
camera_topics array of your camera topics as string
image_type your image format enum

Result

Projection Lucid Vision Triton 5.4 MP 120° camera onto Velodyne Alpha Prime LiDAR

vls-128 vls-128

Projection AC-IMX390 camera onto RoboSense Helios 32 beam LiDAR

vls-128 vls-128

slam slam

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
ament_lint_auto
ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/color_point_cloud.launch.xml
      • timeout_sec [default: 0.1]
      • point_cloud_topic [default: /sensing/lidar/top/pointcloud_raw]
      • point_cloud_frame_id [default: rs_helios_top]
      • camera_topics [default: [/sensing/camera/camera0/, /sensing/camera/camera1/, /sensing/camera/camera2/, /sensing/camera/camera3/]]
      • image_type [default: 0]
      • image_topic_last_name [default: image_raw]
      • camera_info_topic_last_name [default: camera_info]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged color_point_cloud at Robotics Stack Exchange

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