search

chaytonmin / Off-Road-Freespace-Detection

Official implementation of our ICRA'22 paper: ORFD: A Dataset and Benchmark for Off-Road Freespace Detection
MIT License
138 stars 18 forks source link

Hi, I have some questions about generating images from point cloud data #7

Open chaohe1998 opened 1 year ago

chaohe1998 commented 1 year ago

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。

chaytonmin commented 1 year ago

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

chaohe1998 commented 1 year ago

image 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.

chaytonmin commented 1 year ago

image 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

chaohe1998 commented 1 year ago

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.

chaytonmin commented 1 year ago

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.

Ahsanr312 commented 5 months ago

@chaohe1998 @chaytonmin Can you share the code how you fused point cloud data and image data to generate the point cloud image?