Point cloud interpolater for ROS

A point interpolation library for LiDAR using images.

This is a ROS package version.

Features

• Supports Linear and Original method.
• Interpolate sensor_msgs/PointCloud2 upto same resolution as sensor_msgs/Image

Requirements

• ROS melodic
• C++ 17
• PCL 1.8
• OpenCV 3.4.2

How to use

1. Set topic names

In 'launch/point_interpolation.launch',

...

<launch>
    ...

    <param name="thermal_node" type="string" value="<thermal image topic name>"/>
    <param name="rgb_node" type="string" value="<RGB image topic name>"/>
    <param name="points_node" type="string" value="<PointCloud topic name>"/>

    ...
</launch>

This package requires both thermal and RGB image topics.

2. Compile and run nodes

In your ROS workspace,

$ catkin_make
$ ros launch point_interpolation.launch

If you want to save images and point clouds, check 'src/adapter_node.cpp' and remove comment on the corresponding part.