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lidar_projection

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3d lidar point cloud 2d image projection in python.

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# lidar_projection
3d lidar point cloud 2d image projection in python.

Requirement:
1. numpy
2. matplotlib
3. [python-pcl](https://github.com/strawlab/python-pcl)
4. (Opt.) ros, for real-time display

File:
1. `tool.py`: methods to load `.pcd` data or kitti `.bin` point cloud data
2. `show.py`: methods to perform projection

Running:
Not well coded yet, just for test.
```shell
#for ros velodyne points real time projection
python ros_realtiem.py
```
```shell
#for static point cloud data projection
#test.py should be modified
python test.py
```

Resutls:
Front View & Panorama
![gray](https://raw.githubusercontent.com/collector-m/lidar_projection/master/pic/arround.png)
![depth](https://raw.githubusercontent.com/collector-m/lidar_projection/master/pic/lidar_depth.png)
![height](https://raw.githubusercontent.com/collector-m/lidar_projection/master/pic/lidar_height.png)
![intensity](https://raw.githubusercontent.com/collector-m/lidar_projection/master/pic/lidar_reflectance.png)

Bird View	
![gray_bv](https://raw.githubusercontent.com/collector-m/lidar_projection/master/pic/lidar_pil_01.png)

Thanks [http://ronny.rest/blog](http://ronny.rest/blog)

lidar_projection

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