project lidar scanned point clouds to images

[Liumouliu]

Hi,

I'm doing some dataset parsing job on the dataset, i.e., projecting lidar scanned point clouds to images.

Specifically, following my last question (#26), I obtained pcds of the lidar-blue using the provided sample dataset, then I want to project pcds to the camera FL.

Below are some results:

First, I show some successful examples.

At this stage, we can see that the projections of lidar scanned points align well with the image.

(Some projections are on the sky, is this due to the calibration error between lidar and image? or something else?)

Then, I show some failure cases:

We can see discontinuities for each scan line. Is this correct?

For the last failure case, the scans on the right part of the image are missing.

I tried to find the reason and found that the pcd of this case is small and do not cover the right part of the image. Below is the visible 3D points cloud of the last failure case:

Can you please help me to confirm whether I'm doing the right job? thank you very much!

PCDS: https://drive.google.com/file/d/1yIJRg_HFHQbb1LTPMW8wxqkIY8dKUdOd/view?usp=sharing

I think we should start from here, check whether the pcds are correct.

codes: first rename them as XX.py and then run project_lidar_to_camera.py
transformations.txt
project_lidar_to_camera.txt

you need to install open3d, opencv, and other common libs (see project_lidar_to_camera.py).

[jiheddachraoui]

Hello,
Could you please explain how you computed the calibration matrix that produced the initial successful results?