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EPVelasco / lidar-camera-fusion

The code implemented in ROS projects a point cloud obtained by a Velodyne VLP16 3D-Lidar sensor on an image from an RGB camera.
GNU General Public License v3.0
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Fusing Ouster Instead Velodyne #1

Closed hichamhendy closed 2 years ago

hichamhendy commented 2 years ago

Assuming I did the calibration, would be okay to use the point cloud of Ouster instead Velodyne?

What would I need besides changing the topic and frame name?

EPVelasco commented 2 years ago

Yes, you could use the Ouster point cloud. On line 8 of the vlp16OnImg.lauch file, you can rename the topic to the Ouster point cloud name.

You need the Y-angle resolution of the Ouster you use. In line 13 you can modify the angle in degrees of each light layer of the sensor. In the case of the Velodyne VLP-16, I used 32.8 degrees FOV for 16 layers. 32.8/16 = 2.05

hichamhendy commented 2 years ago

Thank you