The code implemented in ROS projects a point cloud obtained by a Velodyne VLP16 3D-Lidar sensor on an image from an RGB camera. The example used the ROS package to calibrate a camera and a LiDAR from lidar_camera_calibration. In order to have points in a denser cloud, we interpolate the point cloud data by converting the point cloud to a range image and a bilinear interpolation with the armadillo library.
The white dots are the original point cloud of the Velodyne VLP-16 lidar. The colored dots are the interpolated point cloud.
- ROS Melodic
- Velodyne repository
cd ~/(your_work_space)/src git clone https://github.com/ros-drivers/velodyne.git -b melodic-devel cd .. catkin_make --only-pkg-with-deps velodyne
- PCL (Point Cloud Library)
- Armadillo (11.0.1 or higher)
tar -xvf armadillo-11.1.1.tar.xz cd armadillo-11.1.1 mkdir build cd build cmake .. make sudo make install
~/pointcloudTopic Input Point Cloud message. (sensor_msgs/PointCloud2)
~/imageTopic Input image message. (sensor_msgs/Image)
~/points2 Output point cloud interpolated. (sensor_msgs/PointCloud2) ~/pcOnImage_image lidar point cloud projected on input image. (sensor_msgs/Image)
~/pc_interpoled Output point cloud interpolated. (sensor_msgs/PointCloud2)
cd ~/catkin_ws/src
git clone https://github.com/EPVelasco/lidar_camera_fusion.git
cd ..
catkin_make --only-pkg-with-deps lidar_camera_fusion
roslaunch lidar_camera_fusion vlp16OnImg.launch
roslaunch lidar_camera_fusion interpolated_vlp16.launch
Detection and depth estimation for domestic waste in outdoor environments by sensors fusion. Preprint
Application
@article{paez2022detection,
title={Detection and depth estimation for domestic waste in outdoor environments by sensors fusion},
author={P{\'a}ez-Ubieta, Ignacio de L and Velasco-S{\'a}nchez, Edison and Puente, Santiago T and Candelas, Francisco A},
journal={arXiv preprint arXiv:2211.04085},
year={2022}
}
Code
@misc {EPVelasco_lidar,
author = {Edison Velasco},
title = {Lidar and camera fusion},
year = {2022},
editor = {GitHub},
revista = {GitHub Repository},
url ={github.com/EPVelasco/lidar-camera-fusion},
}