Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

The idea would be to reproject the lidar point cloud in RGB camera frame, creating a registered depth image to RGB camera. You can look at this post, where a depth image (see top left in image below) its created from velodyne point cloud:

image description

Other approach would be to use a stereo camera instead.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.