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This repository uses a ROS node to subscribe to camera (hikvision) and lidar (livox) data. After the node merges the data, it publishes the colored point cloud and displays it in rviz.

License: MIT License

CMake 11.87% C++ 88.13%

lidar-camera-fusion ros-melodic livox-horizon

fusion-lidar-camera-ros's Introduction

fusion-lidar-camera-ROS

一、介绍

1.1 仓库目录

本仓库是一个ROS工作空间，其中ws_fusion_camera/src有一个工具包color_pc

ws_fusion_camera
│   README.md
│   
└───src
     │
     └───package: color_pc
                     │    node: color_pc_node   (fusion get colored point cloud)
                     │    node: intetral_node   (intetral colored point cloud)
                     │    node: color_pc_sync_node (use ROS message_filters::Synchronizer)
                     │
                     └───launch
                               launch file: fusion.launch(color_pc & rviz)
                               launch file: integral.launch(integral & rviz)
                               launch file: sync_fusion.launch(color_pc_sync & rviz)

1.2 环境与依赖

Ubuntu 18.04 ROS melodic. ROS installation
PCL 1.8. PCL installation
OpenCV 3.2.0 Opencv Installation

1.3硬件

Item	Pics	Shopping Link
Livox Horizon		Lidar
Hikvision DS-2ZMN2007(C)		Camera

注意:由于Hikvision网络相机不支持SDK软触发，因此两个设备无法做时间同步，硬件配置适用于对时间同步性要求较低的任务

二、使用方法

安装ROS
安装livox和hikvision ROS驱动^{[1, 2, 3]}
安装本仓库

mkdir -p ~/xxx/src
cd ~/xxx/src
catkin_init_workspace
git clone https://github.com/GCaptainNemo/fusion-lidar-camera-ROS.git
mv ./fusion-lidar-camera-ROS/ws_fusion_camera/src/color_pc  ./
mv ./fusion-lidar-camera-ROS/ws_fusion_camera/src/launch_file  ./
cd ..
catkin_make

运行相机和激光雷达设备驱动

roslaunch livox_ros_driver livox_lidar.launch
roslaunch hikvision_ros hik.launch ip_addr:=192.168.1.64 password:=xxx

或者下载ROS-bag测试数据地址: https://pan.baidu.com/s/1Uh-TypdW2ZP8HlXjTGw11w 提取码: s2pi

运行color_pc数据融合节点，并在rviz中显示

rosbag play static.bag
roslaunch color_pc fusion.launch

or 增加点云滤波节点

rosbag play static_msg.bag
roslaunch color_pc fusion_filter.launch

三、效果

单帧融合效果

点云时间积分效果

四、参考资料

[1] hikvision相机装ROS驱动

[2] livox 驱动安装

[3] livox SDK安装

fusion-lidar-camera-ros's People

Contributors

Stargazers

Watchers

Forkers

fanyanfu mfkiwl laplacekorea royzon tuoyan1234 tomato1107 loricon js-622 bennyustc pyosh a1595341200 deeplfeuerwerk

fusion-lidar-camera-ros's Issues

yaml file

how to get the yaml file ?by autoware?or what?

the difference of color_pc_node and color_pc_sync_node

i think the two nodes use two difference methods to realize fusion(time synchronize).is that right?

Unable to download file static.bag

@GCaptainNemo I can't download the bag file to run the repo. Could you update the link to download the bag file as google drive or onedrive?

内外参标定

filter_node.cpp中PointType未定义的问题

博主，我在编译程序的时候发现filter_node.cpp中PointType未定义，请问怎么解决呢

colors not projected

Hey, I am using this same code on ROS noetic but when i run the command "roslaunch color_pc sync_fusion.launch" and even when i lauch the fusion.launch command, the colors seem to not get projected. The output that I get looks like this:

I am not sure what is the issue here.....could you help me here? Even when I run it on the bag that you have, the colors are not projected (I use Livox mid-360 )...so tried it with the bag you had shared and still the colors were not projected.

bag error

when i run the fuse_node,the terminal tell that
[ERROR] [1655797891.195600078]: Client [/color_pc_node] wants topic /livox/lidar to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [livox_ros_driver/CustomMsg/e4d6829bdfe657cb6c21a746c86b21a6]. Dropping connection.
how can i fix the problem?

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