Fusion-Lidar-Camera-ROS

KO | EN

gitlite — search

#python #hacktoberfest #react #go #deep-learning #macos #java #windows #cli #vue #pytorch #security #ios #openai

Fusion-Lidar-Camera-ROS

(★ 59)

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.

Fusion-Lidar-Camera-ROS 최신버젼 다운로드

최종 버전 다운로드 (.zip)

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

# 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](http://wiki.ros.org/ROS/Installation)

* PCL 1.8. [PCL installation](https://pointclouds.org/downloads/#linux)

* OpenCV 3.2.0 [Opencv Installation](http://opencv.org)

## 1.3硬件

<table >
    	<tr>
            	<th align="center" valign="middle">Item</th>
            	<th align="center" valign="middle">Pics</th>
            	<th align="center" valign="middle">Shopping Link</th>
        </tr>
    	<tr>
    	    	<td align="center" valign="middle">Livox Horizon</td>
        		<td align="center" valign="middle"><img src="./result/lidar.png" width=25% /></td>
        		<td align="center" valign="middle">  <a href ="https://www.livoxtech.com/horizon"> Lidar </a> 		    		</td>
    	</tr>
    	<tr>
          	 	 <td align="center" valign="middle">Hikvision DS-2ZMN2007(C)</td>
    	    	<td align="center" valign="middle"><img src="./result/camera.png"  width=25%></td>
            	<td align="center" valign="middle">  
                    <a 	href="http://steven1210.51sole.com/companynewsdetail_129276267.htm"> Camera </a> 		    		</td>
    	</tr>
</table>

**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
1. 安装ROS
2. 安装livox和hikvision ROS驱动<sup>[1, 2, 3]</sup>
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

```
4. 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

5. 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
<img src="./result/result.gif"  border=0 width=90%>

<h6 align=center>单帧融合效果</h6>

<h6 align="center">点云时间积分效果</h6>

## 四、参考资料

[1] [hikvision相机装ROS驱动](https://blog.csdn.net/qq_37534947/article/details/116432115)

[2] [livox 驱动安装](https://github.com/Livox-SDK/livox_ros_driver)

[3] [livox SDK安装](https://github.com/Livox-SDK/Livox-SDK)

Fusion-Lidar-Camera-ROS

Fusion-Lidar-Camera-ROS 최신버젼 다운로드

오늘의 추천 프로젝트

Was this content helpful?

Recent Feedback

Fusion-Lidar-Camera-ROS

Fusion-Lidar-Camera-ROS 최신버젼 다운로드

오늘의 추천 프로젝트

Was this content helpful?

Recent Feedback

Download README