Project PointCloud On Image

code for projecting a 3D point cloud to a 2D image using the intrinsic parameters of a camera as well as its extrinsic parameters.

Project Structure

• config : Contains yaml file
• include: Contains yaml parser and projection header
• output : To store output
• resources: Contains example image and pcd file
• src: Implementation and example code.

Dependencies

Latest version should work

• OpenCV
• PCL
• yaml-cpp

config

Change config parameter accordingly

• extrinsicTranslation or Tr : 3 x 4 extrinsic camera matrix

• projectionMatrix or P0 : 3 x 4 projection matrix

Build instruction

git clone https://github.com/Basavaraj-PN/project-pointcloud-on-image.git
cd project-pointcloud-on-image
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make

Running Example

Run pointcloud_to_image in build directory

./pointcloud_to_image

Result on KITTY dataset

Block Diagram

              ,----------------------------------------.               
              |Read image, pointcloud and config files |               
              |----------------------------------------|               
              `----------------------------------------'                                                  
                                   |                                   
              ,-----------------------------------------.              
              |Filter pointcloud that are behind camera |              
              |-----------------------------------------|              
              `-----------------------------------------'              
                                   |                                   
              ,-----------------------------------------.              
              |Convert pointcloud to homogeneous matrix |              
              |-----------------------------------------|              
              `-----------------------------------------'                            
                                   |                                   
    ,----------------------------------------------------------------------.              
    |Project pointcloud to camera coordinate with camera extrinsic matrix  |              
    |----------------------------------------------------------------------|              
    `----------------------------------------------------------------------'              
                                   |                                                              
                 ,----------------------------------.                  
                 |Normalize points by dividing depth|                  
                 |----------------------------------|                  
                 `----------------------------------'                  
                                   |                                   
    ,-------------------------------------------------------------.    
    |Project points on image plane by multiplying intrinsic matrix|    
    |-------------------------------------------------------------|    
    `-------------------------------------------------------------'