I have a 3D point cloud generated from a velodyne 32E liar. My intention is to generate a 2D range image so that I can use the range image for calibration purposes with an omni-directional camera. Initially I used the PCL library to generate the range image from the point cloud, but it gave me a really small image that I couldn't really interact with it.
How do I generate a range image myself from the point cloud? After doing some research, it seemed that I have to first "unwrap" the XYZ coordinates into the respective elevation, azimuth and distances, then depending on the image resolution, I have to either bin the points or do some interpolation. The concern I had is the precision, since I wish to correlate each individual pixel to the actual XYZ points.
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How do I generate a range image myself from the point cloud? After doing some research, it seemed that I have to first "unwrap" the XYZ coordinates into the respective elevation, azimuth and distances, then depending on the image resolution, I have to either bin the points or do some interpolation. The concern I had is the precision, since I wish to correlate each individual pixel to the actual XYZ points.
أكثر...