Camera-Radar Fusion

Camera-Radar fusion node

This node projects PointCloud to Image plane and publishes a Image with points and distance.

Requirements

1. Camera intrinsics
2. Compressed Image rectified.

How to launch

• From a sourced terminal:

roslaunch cam_radar_fusion cam_radar_fusion.launch

Parameters

Launch file available parameters:

Parameter	Type	Description	Default
points_src	String	Name of the PointCloud topic to subscribe.	Default points_raw
image_src	String	Name of the Image topic to subscribe
camera_info_src	String	Name of the CameraInfo topic that contains the intrinsic matrix for the Image.	camera_info

Subscriptions/Publications

Node [/cam_radar_fusion]
Publications: 
 * /points_fused [sensor_msgs/CompressedImage]

Subscriptions: 
 * /image_raw [sensor_msgs/CompressedImage]
 * /points_raw [sensor_msgs/PointCloud2]
 * /camera_info [sensor_msgs/CameraInfo]
 * /tf [tf2_msgs/TFMessage]