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kitti_lidar_camera's Introduction

kitti_lidar_camera

　　KiTTI LiDAR-Camera Fusion, implemented using kitti_ros.

TODO list

  • 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.

How to use

　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

Parameters

　The same as kitti_ros.

kitti_lidar_camera's People

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