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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) |
Packages
| Name | Version |
|---|---|
| color_point_cloud | 0.0.0 |
README
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
Projection AC-IMX390 camera onto RoboSense Helios 32 beam LiDAR
SLAM results with LIO-SAM (link)
CONTRIBUTING
No CONTRIBUTING.md found.
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