Use pcd file with panoramic image to colorize the point cloud to realistic 3D rendering.
you will need:
- a panoramic photo
- a pointcloud file
- relating point cloud (x,y,z) positions
- correlating pixel position (x,y) in the same scene
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Converting ros bag to pcd:
rosrun pcl_ros bag_to_pcd xxx.bag /hokuyo_points input/pointCloud -
Merging pcd files to one:
python fusioneye.py merge_pcd -
Picking (x,y,z) from point cloud:
pcl_viewer input/pointCloud.pcd -use_point_pickingshift + 鼠标左键点击可以获取点云坐标
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Picking relative image pixel (x,y) from image file:
use a gimp or equivalent image software
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Prepare source data folder:
- 图像坐标和点云坐标文件: input/imageAndPcd.txt
- 图像文件: input/image.JPG
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Run coloring command:
python fusioneye.py color_pcd -
Output colorful pcd file:
输出有色点云: output/colourfulPointCloud.pcd