AddColorFromImage

Add color to pointcloud (no need to be organized) from image and camera info.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud to be colorized, which is not necessarily organized.

  • ~input/image (sensor_msgs/Image)

    Input image for the colors.

  • ~input/camera_info (sensor_msgs/CameraInfo)

    Input camera info.

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)

    Output colorized pointcloud.

Sample

roslaunch jsk_pcl_ros add_color_from_image.launch