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PointCloud on Image

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.

Requisites

  • ROS Kinetic or Melodic
  • Velodyne repository
  • PCL (Point Cloud Library)

Clone repository

    cd ~/catkin_ws/src
    git clone https://github.com/EPVelasco/pc_on_image.git
    cd ..
    catkin_make --only-pkg-with-deps pc_on_image

Ros Launch

   roslaunch pc_on_img vlp16OnImg.launch

Test