将点云投影到图像并生成带有颜色的激光雷达点云_python_代码_下载

## About This code is to porject the LiDAR point cloud to the image & generate the point cloud with color <img src="./demo/demo_img.png" width = "600"> <img src="./demo/demo_pc.png" width = "600"> ## Input * Images (.png files) * Point cloud files (.bin files) * Calib files Support two kinds of calib files' type. * All parameters stored in one file. e.g. KITTI > * R_rect: shape 3*3 > * P_rect: shape 3*4 > * Tr: shape 3*4 * 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 ## Steps * Put all the images into [img](./img/), and put all the point cloud files into [lidar](./lidar/)(**Notice: The filename of the image and the corresponding point cloud file should be the same.**). Put the calib file into [calib](./calib/) * Set the parameters in [main.py](./main.py). * 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 * IMG_PATH: The path of images * LIDAR_PATH: The path of point cloud files * SIMG_PATH: The path to stored the result images * SPC_PATH: The path to stored the result point cloud with color * SBEV_PATH: The path to stored the result BEV * SFV_PATH: The path to stored the result FV * 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. * Run [main.py](./main.py) to get the result. ```Bash 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 ```Bash python pcd_vis.py ``` <img src="./demo/demo_pc.png" width = "600"> ### BEV & FV The BEV & FV is saved in the path you set <img src="./demo/demo_bev_fv.png" width = "600">