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.
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All parameters stored in one file. e.g. KITTI
- R_rect: shape 3*3
- P_rect: shape 3*4
- Tr: shape 3*4
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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
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Steps
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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
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Set the parameters in main.py.
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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
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IMG_PATH: The path of images
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LIDAR_PATH: The path of point cloud files
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SIMG_PATH: The path to stored the result images
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SPC_PATH: The path to stored the result point cloud with color
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SBEV_PATH: The path to stored the result BEV
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SFV_PATH: The path to stored the result FV
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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.
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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
