Range Image generator

[robertsenputras]

Hi Youngsun Kwon,

Thanks for the readme, the dataset, and all of the pretrained weights. It is so helpful.

I'm just wondering how did you create the range image from pointclouds? How's your method? If I remember correctly, there are two different method to represent pointcloud to a range image; PBEA (Projection Based Elevation Angle) and PBID (Projection Based Laser ID). Which one do you use? How did you manage to minimize the quantization error.

I tried to convert the range image that I built using my own generator, but It seems it has a bit error as you can see from the image below ( the white points are the raw PCL from rosbag, the green points are the raw range image).

Hope hearing from you soon.

[PinocchioYS]

Thank you for using our project.

To make a range image, I converted points (x, y, z) in the sensor coordinate to the samples (v, h, r) in the spherical coordinate.
[ v: vertical angle | h: horizontal angle | r: laser detection distance ]
Then, I selected the nearest sample to each center point of the pixel.
I tried this approach to minimize the projection error when generating a range image from a noisy LiDAR point cloud.
It might be similar to the PBEA you mentioned.

I will try to upload the source code to gather the points in a simulator and use the real LiDAR data.

Thanks!

[juliangaal]

I will try to upload the source code to gather the points in a simulator and use the real LiDAR data.

Have you made progress on this?