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Camera LiDAR Fusion

A ROS package for the Camera LiDAR fusion.

  • Synchronize multiple cameras (center, left, right, compressed images) and LiDAR (pointcloud) messages using message_filter.
  • Fuse camera and LiDAR using LiDAR-to-Camera transformation matrix.
  • Visualize Camera-LiDAR fusion images.

Install

sudo apt install ros-melodic-pcl-ros ros-melodic-pcl-conversions 
sudo apt install ros-melodic-image-transport ros-melodic-image-transport-plugins

How to use

1. Configure your sensors & Camera-LiDAR transformation matrix.

2. Build the ROS package & Run ROS node for Camera-LiDAR fusion.

cd ~/catkin_ws
catkin_make
rosrun camera_lidar_fusion camera_lidar_fusion_sync