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

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

Cheers

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.

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/

@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.