This node textures point cloud with data from rectified images.

You should use this node through the launch file texture_point_cloud.launch, which bundles it with an image stream of rectified images. While this launch file is running, you only need to request a (published) point cloud from the camera node (you can e.g. use the request_data script for this).

Subscribed Topics

image (sensor_msgs/Image)

• The rectified images that are used as the texture.

• The point clouds that should get textured. Whenever a new point cloud is received form this topic, the node textures is with the current rectified image and publishes the resulting textured point cloud.

Published Topics

textured_point_cloud (sensor_msgs/PointCloud2)

• The texture point clouds.