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.

• 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)

    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