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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Add support for lidar scan format with RGB #1349

Open matlabbe opened 1 month ago

matlabbe commented 1 month ago

Issue created from this discussion: http://official-rtab-map-forum.206.s1.nabble.com/Combine-3D-Lidar-and-RGB-D-Camera-to-create-a-single-3D-point-cloud-sensor-fusion-tp10162p10482.html

Example of point cloud generated by https://github.com/leo-drive/color-point-cloud package (here 3 cameras coloring the laser scan): image

Format: https://github.com/leo-drive/color-point-cloud/blob/e431fb76a2ad68310de5251539fdca08f9dcd370/src/ColorPointCloud.cpp#L126-L142

sensor_msgs::PointCloud2Iterator<float> iter_x(cloud_color_msg, "x");
sensor_msgs::PointCloud2Iterator<float> iter_y(cloud_color_msg, "y");
sensor_msgs::PointCloud2Iterator<float> iter_z(cloud_color_msg, "z");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_r(cloud_color_msg, "r");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_g(cloud_color_msg, "g");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_b(cloud_color_msg, "b");
sensor_msgs::PointCloud2Iterator<uint16_t> iter_ring(cloud_color_msg, "ring");
sensor_msgs::PointCloud2Iterator<float> iter_intensity(cloud_color_msg, "intensity");

Our current formats supported: https://github.com/introlab/rtabmap/blob/538bc681d4a382ad06333ee1e17c6ac120e82c80/corelib/include/rtabmap/core/LaserScan.h#L40-L51, we could add at least kXYZRGBI and kXYZRGBIT formats.