Livox lidar+ Hikvision camera real-time 3D reconstruction based on loam to generate RGB color point cloud

Livox Lidar  + HIKROBOT Camera series

Recently in the development of camera and laser radar fusion slam Algorithm , It is mainly used for 3D reconstruction , Want to get a real-time color point cloud map , The sensors are Hikvision's industrial camera and Dajiang's solid-state laser radar .

The sea, Camera MVS Linux SDK Secondary development package ROS packge Process record （c++）

Livox Lidar+ The sea, Camera Generate color point cloud in real time

Livox Lidar+ The sea, Camera Real time 3D reconstruction generation RGB Color point cloud map

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Preface

The goal is to make use of Livox Lidar+ The sea, Camera Real time 3D reconstruction generation RGB Colored point cloud , The algorithm is based on loam And the optimization and improvement of its various variants , Open source https://github.com/luckyluckydadada/livox_color_mapping.
of loam And its various variants of the principle of online analysis of many , No explanation here , Various loam For the arrangement of articles on principles, see ： Various versions loam Arrangement
livox_color_mapping I'm in a loam Version code supports generation with RGB A color map of information , And the code is Detailed Chinese Notes , welcome star

pipline

1. utilize livox ros The nodes in the package call the lidar generation /livox/lidar(Topic) ;
2. utilize hikrobot ros The nodes in the package call the camera generation /hikrobot_camera/rgb(Topic);
3. adopt livox_color ros package 【 see  Livox Lidar+ The sea, Camera Generate color point cloud in real time 】 Node subscription in /hikrobot_camera/rgb(Topic) and /livox/lidar(Topic) real-time processing , And generate color point cloud /livox/color_lidar(Topic);
4. adopt livox_color_mapping ros The nodes in the package subscribe /livox/color_lidar(Topic), Generate a color point cloud map , Please be there. livox_color_mapping/launch/mapping_mid_color.launch Specify the map saving path in the file /home/xxx, The saved format is bin Formal pcd file , Can be directly used pcl_viewer all_points.pcd Open view . It can also be converted to ply Format ：pcl_pcd2ply demo.pcd demo.ply

install

Please complete the dependency installation first ：

The sea, Camera MVS Linux SDK Secondary development package ROS packge Process record （c++）

Livox Lidar+ The sea, Camera Generate color point cloud in real time

livox_color_mapping install ：

cd ws_livox/src  # front livox ros driver Installation directory （https://github.com/Livox-SDK/livox_ros_driver）
git clone https://github.com/luckyluckydadada/livox_color_mapping.git
cd ..
catkin_make

function

Please combine the previous 《pipeline》 Execute against , The execution of a terminal corresponds to a principle .

terminal 1：
cd ~/ws_livox
source devel/setup.bash
roslaunch livox_ros_driver livox_lidar.launch 

terminal 2：
cd ~/ws_hikrobot_camera
source devel/setup.bash
roslaunch hikrobot_camera hikrobot_camera.launch

terminal 3：
cd ~/ws_livox_color
source devel/setup.bash
roslaunch livox_color color_livox-for-color-mapping.launch

terminal 4：
cd ~/ws_livox
source devel/setup.bash
#  Be careful to modify mapping_mid_color.launch Medium map Storage path , Otherwise, it will overwrite the last map result
roslaunch livox_color_mapping mapping_mid_color.launch 

Real time mapping effect

Outside
indoor