Re: How to utilize D455 sensor to colorize 3d point cloud map created using lidar

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-utilize-D455-sensor-to-colorize-3d-point-cloud-map-created-using-lidar-tp10438p10446.html

dinossht wrote

[UPDATE]
I got it seemingly to work by adding rgb and camera_info topics, and setting subscribe_rgb=true. Also adding approx_sync=true

Yes, that what I was referring. You may also try with odom_sensor_sync to adjust position of the camera based on icp odometry. For best results, I also recommend to calibrate extrinsics between the camera and the lidar. CAD values can be a good start to set the transform between the sensors, but could worth it to try if calibration would produce a better registration of the color on the point cloud. For packages doing so, you may start looking here.

cheers,
Mathieu