pointcloud_colour_registration

Utility package to use pinhole camera model to register colour to a single pointcloud from RGB cameras. Assumes that no cameras have overlapping FOV.

Usage

roslaunch pointcloud_colour_registration colour_registration.launch

Note: Tested with a merged pointcloud from two Ouster OS0-128, and 3 Intel Realsense D435 RGB cameras with no overlapping FOV.

Arguments

• ~published_topicname - Topic name of the colour pointcloud
• ~pointcloud_topicname - Topic name of the input pointcloud to colour
• ~base_frame - Frame of the input pointcloud
• ~image_transport_options - Transport options for colour camera. Options are 'raw' and 'compressed' - from image_transport package

Note: For more than one RGB camera, the following arguments are delimited by commas. E.g. /camera_pi1/color/image_raw,/camera_pi2/color/image_raw,/camera_pi3/color/image_raw

• ~camera_frames - The link frame of the colour cameras. ROS camera drivers usually default to /camera_link
• ~camera_subtopics - The image_transport topic tree for the colour image. ROS camera drivers usually default to /camera/image_raw
• ~camerainfo_topics - The camera_info topics for the camera. ROS camera drivers usually default to /camera/camera_info
• ~frame_suffix - The suffix for the optical frame where the RGB images come from. ROS camera drivers usually default to _color_optical_frame
  Frame suffix note: If only a single value is given (no comma delimiter), the same suffix is assumed for all cameras.

Dependencies

• Eigen3 (debian release on Ubuntu 20.04)
• OpenCV (ros noetic opencv installation - opencv4)
• PCL (debian release for ros noetic - pcl 1.10)
• ROS packages
  • cv_bridge
  • image_transport
  • pcl_conversions
  • pcl_ros
  • roscpp
  • sensor_msgs
  • tf
  • tf_conversions

TODO

• Make base_frame argument optional - read from header of input pointcloud if none given
• Add intensity values into colour pointcloud - accommodate for algorithms which rely on intensity
• Address multiple RGB cameras with overlapping FOV