epvelasco / pc2image

This code converts a point cloud obtained by a Velodyne VLP16 3D-Lidar sensor into a depth image mono16.

pc2image

This code converts a point cloud obtained by a Velodyne VLP16 3D-Lidar sensor into a depth image mono16.

Requisites

• ROS Kinetic or Melodic
• Velodyne repository

  sudo apt-get install ros-melodic-velodyne-pointcloud
  

• PCL (Point Cloud Library)

Clone repository

    cd ~/catkin_ws/src
    git clone https://github.com/EPVelasco/pc2image.git
    cd ..
    catkin_make --only-pkg-with-deps pc2image

Ros Launch

    roslaunch pc2image VLP16_image.launch

pc2image's Issues

can we extract coordinate XYZ from the given X,Y pixel coordinate? and also, can we convert this range image to opencv image?

How to execute?

Can someone please tell how to execute this?

My test result

Hi, Thank you for the awesome work.

I reproduce your work successfully and the following figure is the result:

The depth image is "unclear" compare to your result (pc2image.GIF).
Did you use sensor fusion? I noticed that your result has a image topic. In other words, the depth image is more clear due to use sensor fusion?

May i have your suggestions to understanding this phenomenon?
Any help is much appreciated:)

Extract depth image from rosbag

Hi, Thank you for the great work:)

I run rosbag record -O out /depth_image command to record the /depth_image topic and I get a .bag file. But I don't know how to extract these depth images from .bag file. I want to collect these data to train a network for pose estimation.

I would be grateful if you could give me some suggestions to achieve it.

Best wishes,
Yicheng