KiTTI LiDAR-Camera Fusion, implemented using kitti_ros.
- Project Point Cloud into RGB Image, in topic /kitti/img_depth (sensor_msgs/Image).
- Color Point Cloud with RGB from Image, in topic /kitti/points_rgb (sensor_msgs/PointCloud2).
- Currently only fusion with the Left RGB Camera (02), which can be selected from any 1 of 4 as a parameter.
- Others the same as kitti_ros.
We name your ros workspace as CATKIN_WS
and git clone
kitti_lidar_camera as a ros package.
# clone source code
$ cd $(CATKIN_WS)/src
$ git clone https://github.com/LidarPerception/kitti_lidar_camera
# build your ros workspace
$ cd $(CATKIN_WS)
$ catkin build -DCMAKE_BUILD_TYPE=Release
$ source devel/setup.bash
# change Mode for Keyboard Listening Device
$ sudo chmod 777 /dev/input/event3
# [option 1]launch kitti_lidar_camera's kitti_player with rviz
$ roslaunch kitti_lidar_camera demo.launch
# [option 2]launch kitti_lidar_camera's kitti_player without rviz
$ roslaunch kitti_lidar_camera kitti_lidar_camera.launch
The same as kitti_ros.