ROS Resources: Documentation | Support | Discussion Forum | Service Status | Q&A answers.ros.org

From 360 degree sparse point cloud (lidar) (PointCloud2 msg) to depth image?


#1

Hey,
Is there any ROS package for it already? Or how would you approach this?

Cheers


#2

Some time ago I have been playing with this topic, converting pointclouds from a Velodyne to range-images using PCL.
You can find some code here (pointcloud_to_rangeimage) to get you started.
Disclaimer : It requires some extra work and polishing.

Cheers.


#3

Hey Jeremie. Thanks for your helpful reply. I’m using a VLP16 (i saw the config file for a Velodyne 16 in the devel branch). Do you have by any chance a before/after shot of the latest version? I think it would be quite helpful to see what the output would look like :slight_smile:

As this topic got closed I’ve added a link to the ROS answer thread:

https://answers.ros.org/question/277191/create-2d-depth-image-from-sparse-360-degree-pointcloud/


#4

@tbb It looks like you got a pointer to a package that can help you.

However going forward I’d like to request that you follow our guidelines and ask questions on http://answers.ros.org . ROS Discourse is for news and general interest discussions.


#5