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Per lidar frame colourisation from camera bands. Data messages are extracted from a ROS bagfile. The process is focussed on completeness rather than speed.

Description of ROS package for the mobile mapping system of the Technical University of Darmstadt, Remote Sensing and Image Analysis group.

The original code "StaticMapping" by EdwardLuiyc to include next to intensity in the final global point cloud, also four colour bands per point.