livox_visual_fusion

livox激光点云与图像数据的融合，实时点云着色

介绍

​ 实时点云着色

依赖

• ros-melodic
• Eigen3
• OpenCV3.2+
• livox_SDK
• livox_driver
• camera_models

Build

mkdir -p cloud_image_fusion_ws/src
cd cloud_image_fusion_ws/src
cp -r ./livox_visual_fusion/Thirdparty/camera_models ./
cd ..
catkin_make

Usage

• 相机标定
• 鱼眼相机标定
• 相机雷达标定
• 鱼眼相机与激光雷达标定

Run

• 针孔相机点云着色

source devel/setup.zsh
roslaunch livox_visual_fusion test_fusion.launch

• 鱼眼相机点云着色

  测试数据

# 将launch中载入参数路径该为目标参数配置后
source devel/setup.zsh
roslaunch fusion_with_fisheye_offline.launch

• 着色点云查看

  依赖pcl_ros

  sudo apt-get install ros-melodic-pcl-ros

source devel/setup.zsh
roslaunch  livox_visual_fusion pcd_to_pointcloud_topics_ingle.launch