Camera Fusion Package

This repository contains a C++ package for fusing point clouds from two different cameras using ROS 2. The package also supports 2D images. It is designed to work with RealSense 2 and Azure Kinect cameras.

Prerequisites

Before getting started, make sure you have the following:

1. ROS 2 (compatible version with your dependencies)
2. Drivers for RealSense 2 and Azure Kinect cameras

Installation and Usage Steps

1. Clone the repository:

git clone https://github.com/Lab-CORO/pointcloud_fusion.git

2. Build the package:

colcon build --packages-select pointcloud_fusion

3. Source the workspace:

    source install/setup.bash

4. Launch the cameras:

   . For the RealSense 2 camera:

ros2 launch realsense2_camera rs_launch.py

. For the Azure Kinect camera:

ros2 launch driver.launch.py

5. Launch the fusion package:

    ros2 launch pointcloud_fusion pointcloud_fusion.launch.py

Features

• Real-time fusion of point clouds from two cameras.
• Support for RealSense 2 and Azure Kinect cameras.
• Compatible with 2D images and 3D point clouds using ROS 2.