Is there a way to generate a depth (or disparity) map based on the Lidar data?

[yipengm]

I am new to auto-driving. I am confused of the Lidar output here:

For example: I copy the Lidar definition in dataset.py [3,False,100.0,1200,60.0,300.0,20.85.0,115.0]

(3D scaled Cone, laser max range:100, sample number:1200, left_limit:60.0, right_limit:300, vertical sample number:20, vertical upper degree:85 vertical under degree:115 )

First I am a little confused about the angle definition:

"left_limit:60.0, right_limit:300"

Does it mean the range is from 60 to 360 degrees? (I feel a little strange because 300 degree is a reflex angle)

If I want to achieve the range within following, what parameter set should I use?

and what I get is a 1-D array with 1200 elements which also confused me: I think normally the lidar output should be the 3d coordinate per sample point. What's the meaning of the value?

[gdpinchina]

1. About 3D points: I only need lidar ranges instead of coordinates in my previous work. Therefore it outputs ranges. Certainly it can output the 3d coordinate per sample point. In lidar.cpp row 512:

range = sqrt((endCoord.x - _curPos.x) * (endCoord.x - _curPos.x) +
	(endCoord.y - _curPos.y) * (endCoord.y - _curPos.y) +
		(endCoord.z - _curPos.z) * (endCoord.z - _curPos.z));

The endCoord is what you need. I save each range in float *_pointClouds. If you want to save 3D points in it, you may need expand float *_pointClouds with malloc, which is an 1-D array. 2. About degree: Horizontal angle: The forwad is 0°;The left is range from 0° to 179.999... °; The right is range from 180° to 359.999...°. Vertical angle: The forward is 90°; The upper is range from 0° to 89.999...°; The under is range from 90° to 180.0°. 3. About your configuration: Hor: left_lim=60, right_lim=300; Ver: upper_lim=85, under_lim=115; The picture you draw is what the default parameter means. You can alter the False in 2rd param with True. Each lidar point will show in the game.