tanrye / lidar_projection

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

lidar_projection

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

Requirement:

1. numpy
2. matplotlib
3. 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.

#for ros velodyne points real time projection
python ros_realtiem.py

#for static point cloud data projection
#test.py should be modified
python test.py

Resutls: Front View & Panorama

Bird View

Thanks http://ronny.rest/blog