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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:

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

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]

Demo Movie