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MaverickProjectLidar2Image

Author: Yujia Zhang

Main page of our group: AUSM Lab

Main description

This is a Matlab script that projects the lidar 3d point cloud onto the panoramic image for the Maverick Mobile Mapping System. The calibration estimates the intrinsics of the ladybug camera, the boresight and level-arm parameters between lidar and ladybug camera.

Example

Input: calibration parameters, timestamps for lidar 3d point cloud and panoramic image, the lidar 3d point cloud, the single image from camera j or panoramic image

    load('F:/SLAM/dataset/HighFrameRate/Test2/CAMPARAM.mat');

    timeL = load('F:/SLAM/dataset/HighFrameRate/Test2/PointCloud2Timestamp.txt')*10^9;
    timeC = load('F:/SLAM/dataset/HighFrameRate/Test2/frame_timestamps.txt');

    ////////////////////////////////////////////////

    % load velodyne points
    filename = sprintf('F:/SLAM/dataset/HighFrameRate/Test2/point_cloud/%05d.3d', Tindex(i+1)-1);

    ////////////////////////////////////////////////

    %get the image from camj
    imgname = sprintf('F:/SLAM/dataset/HighFrameRate/Test2/Rectified/Cam%d/%06d.png', j-1, i);
    ////////////////////////////////////////////////
    %get the panoramic image
    panoname = sprintf('F:/SLAM/dataset/HighFrameRate/Test2/Pano/%06d.png', i);

Output: the panoramic image mapped with lidar 3d point cloud, the colors represent the depth range