LiDAR-Camera Fusion

Pixel-Cloud fusion node

This node projects PointCloud to Image space, extracts RGB information from the Image, back-projects it to LiDAR space, and finally publishes a Colored PointCloud.

Requirements

1. Camera intrinsics
2. Camera-LiDAR extrinsics
3. Image rectified being published

How to launch

• From a sourced terminal:

roslaunch pixel_cloud_fusion pixel_cloud_fusion.launch

• From Runtime Manager:

Computing Tab -> Fusion -> pixel_cloud_fusion

Parameters

Launch file available parameters:

Subscriptions/Publications

Node [/pixel_cloud_fusion]
Publications: 
 * /points_fused [sensor_msgs/PointCloud2]

Subscriptions: 
 * /image_raw [sensor_msgs/Image]
 * /points_raw [sensor_msgs/PointCloud2]
 * /camera_info [sensor_msgs/CameraInfo]
 * /tf [tf2_msgs/TFMessage]

Changelog for package pixel_cloud_fusion

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Fix Ros/ROS naming convention
• Contributors: Esteve Fernandez

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

1.8.0 (2018-08-31)

• Feature/std perception msg (#1418)
  • New standard message definition for the perception nodes
  • New Detected Object message applied to:
  • SSD
  • Integrated RVIZ viewer
  • External Viewer
  • modified yolo2 and yolo3, compiles but cuda issues, trying different PC
  • Boiler plate for range vision fusion node

  * Added GenColors for Kinetic Typo fixes for yolo2

  • testing colors in Yolo3
  • Completed transformation, projection of 3D boxes
  • Fixed error on negative assignation
  • code clean up
  • removed yolo2 and yolo3, replaced by single darknet node. GUI launches yolo3 for now, to change. Pushing to test code on other PC.
  • Readme updated, added gitignore for data folder.

  * Added Runtime manager UI for yolo2, yolo3.Support tested for TinyYolo v2 and v3 * Fusion Vision Range Icons for viewer

  • Range Vision Fusion node
  • Indigo cv im read
  • Indigo compiation fix
  • Topic renaming according to new spec
  • Try to fix arm64 stuff
  • • Added launch file
  • Added Runtime manager entry
  • • Added Publication of non fused objects
  • Fixed topic names
• [Fix] Moved C++11 flag to autoware_build_flags (#1395)
• [Feature] Makes sure that all binaries have their dependencies linked (#1385)
• Changed frame_id to match each camera id on tierfusion (#1313)
  • Changed frame_id to match each camera id on tierfusion
  • Fix to check once the point has been transformed.
• [feature] Pixel cloud fusion (#1297) * Initial Release of Pixel Cloud Fusion (includes a fix to the Calibration Publisher only publishing one time)
  • Fix README formatting for pixel_cloud_fusion
  • Enable frame from TF, considering fix #1296 merged for multi camera
• Contributors: Abraham Monrroy, Esteve Fernandez