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)

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