Off-Road-Freespace-Detection
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chaytonmin
Hi, I have some questions about generating images from point cloud data
When I use the calibration file provided by you to fuse the point cloud data and image data to generate the point cloud image, but the generated image is not very correct. There is a problem. What does the content of the calib file represent? cam_ K,cam_ RT,lidar_ R,lidar_ T? I hope to receive your reply, Thank you。
When I use the calibration file provided by you to fuse the point cloud data and image data to generate the point cloud image, but the generated image is not very correct. There is a problem. What does the content of the calib file represent? cam_ K,cam_ RT,lidar_ R,lidar_ T? I hope to receive your reply, Thank you。
cam K: camerat intrincs, cam RT: camera extrinsic of ego to cam lidar R: Rotation of lidar coordinate to ego coordinate lidar T : translation of lidar coordinate to ego
Thank you very much for your reply. This is my point cloud projection to the image based on the parameters. Is this correct? Thank you.
yes. It is normal
Sorry, I have another question. The original data of point cloud has five columns. Can you tell me what they represent? The first three columns are x y z, and the last two columns? It seems that there is no information about reflection intensity? Looking forward to receiving your reply, Thank you.
Sorry, I have another question. The original data of point cloud has five columns. Can you tell me what they represent? The first three columns are x y z, and the last two columns? It seems that there is no information about reflection intensity? Looking forward to receiving your reply, Thank you.
line number ( we use 40-line lidar to collect data) and reflection intensity.
@chaohe1998 @chaytonmin Can you share the code how you fused point cloud data and image data to generate the point cloud image?
