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.
- Camera intrinsics
- Camera-LiDAR extrinsics
- Image rectified being published
- From a sourced terminal:
roslaunch pixel_cloud_fusion pixel_cloud_fusion.launch
- From Runtime Manager:
Computing Tab -> Fusion -> pixel_cloud_fusion
Launch file available parameters:
Parameter | Type | Description | Default |
---|---|---|---|
points_src |
String | Name of the PointCloud topic to subscribe. | Default points_raw |
image_src |
String | Name of the Image topic to subscribe NOTE: Must be a previously rectified image (check Autoware's image_processor or ROS image_proc . |
Default: image_rectified |
camera_info_src |
String | Name of the CameraInfo topic that contains the intrinsic matrix for the Image. | camera_info |
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]