A ros package.
In config/params.yaml :
[cam_topic] is the topic name of camera image
[lidar_topic] is the topic name of raw datas of livox lidar
[tc_l] is the transform matrix from lidar frame to camera frame
[camera_internal_matrix] is as its name.
point cloud filtered output : /roi_point_cloud
Step to install :
cd catkin_ws/src
git clone
cd ..
catkin_make
run :
source devel/setup.bash
roslaunch pc_measure pc_measure_node.launch