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)