ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro kilted. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
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 |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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 version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.