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.
- ROS2 (tested with Humble)
- OpenCV
- PCL
- Eigen3
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
source ~/color-point-cloud_ws/install/setup.bash
ros2 launch color_point_cloud color_point_cloud.launch.xml
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 |