OUXT-Polaris / point_painting

point_painting

The PointPainting means to fuse the semantic segmentation results based
on RGB images and add class scores to the raw LiDAR pointcloud.
Prepared with reference to the original paper

subscribe

• pointcloud : LiDAR data
• segmentation_result : Segmentation class and score results(/SegmentationInfo)

Receiving topics can be changed in config/pointpainting_config.yaml

publish

• point_painting : point_painting result(/point_painting)

Screencast.from.2024.04.14.07.09.19.mp4