Feature request: fusion with image

[schreiterjp]

Hi,

a nice addition to the driver would be a ROS2 node that subscribes to an image topic and projects the lidar point cloud into the image plane. A projection matrix could possibly be provided with a config.yaml. So the user only has to calibrate the lidar and camera.

The other way around, projecting an image pixel into the point cloud would give the opportunity to colorise the points and gather additional information. Therefore the inverted matrix could be used.

Thanks.

[AbdullahGM1]

here is a package for ros2 that I have created
https://github.com/AbdullahGM1/ros2_lidar_camera_fusion_with_detection