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Project the PointCloud to the image & Generate the LiDAR PointCloud with color.

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leofansq/Tools_Merge_Image_PointCloud

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About

This code is to porject the LiDAR point cloud to the image & generate the point cloud with color

Input

  • Images (.png files)
  • Point cloud files (.bin files)
  • Calib files Support two kinds of calib files' type.
    • All parameters stored in one file. e.g. KITTI

      • R_rect: shape 3*3
      • P_rect: shape 3*4
      • Tr: shape 3*4
    • The parameters are stored in two files. One is for the camera, the other is for LiDAR2Cam. e.g. KITTI raw

      • R_rect: shape 3*3
      • P_rect: shape 3*4
      • R: shape 3*3
      • T: shape 3*1

Steps

  • Put all the images into img, and put all the point cloud files into lidar(Notice: The filename of the image and the corresponding point cloud file should be the same.). Put the calib file into calib

  • Set the parameters in main.py.

    • CALIB_TYPE: 0:All parameters in one file; 1:Parameters are stored in two files

      If CALIB_TYPE == 0:

      • CALIB: Path of the calib file

      If CALIB_TYPE == 1:

      • CAM2CAM: Path of the calib file for camera
      • LIDAR2CAM: Path of the calib file for LiDAR2Cam
    • IMG_PATH: The path of images

    • LIDAR_PATH: The path of point cloud files

    • SIMG_PATH: The path to stored the result images

    • SPC_PATH: The path to stored the result point cloud with color

    • SBEV_PATH: The path to stored the result BEV

    • SFV_PATH: The path to stored the result FV

    • CAM_ID: The NO. of the camera.

      For the multi-camera sensor system like KITTI, you need to set it to the ID of the camera. For the system which only has one camera, it is set to be 0.

  • Run main.py to get the result.

    python main.py

Visualization

Image

The result image is saved in the path you set

Point cloud with color

  • Go to the path you set to save the result .pcd files
  • Use Open3d 0.7.0.0 to show the point cloud
    python pcd_vis.py

BEV & FV

The BEV & FV is saved in the path you set

About

Project the PointCloud to the image & Generate the LiDAR PointCloud with color.

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