Dense_Depth_Fusion

Create density depth information from relative distance depth images and Lidar depth information

subscribe

・pointcloud_topic :　LiDAR data
・camera_info_topic :　Camera meta information
・depth_image_topic :　Relative depth image

publish

・dense_depth_publisher_ :　Absolute Depth Images

parameters

Name	Type	Description	default
pointcloud_topic	string	point cloud topic name
camera_info_topic	string	cam info topic name
depth_image_topic	string	depth img topic name

launch

ros2 launch dense_depth_fusion dense_depth_fusion_launch.xml

demo

rosbag Download link

# ros2 bag play(relative depth rosbag data)
cd depth_anything_data
ros2 bag play ros2 bag play depth_anything_data_0.mcap

#In other terminals
cd (your_ws)
source install/setup.bash
ros2 launch dense_depth_fusion dense_depth_fusion_launch.xml

Screencast.from.12-11-2024.10.35.15.PM.webm

Visualization of results

https://github.com/OUXT-Polaris/depthimage_to_pointcloud2