https://github.com/berensrwu/densemap

Creates a dense depth map from LiDAR point clouds.
https://github.com/berensrwu/densemap

depth-map kitti-dataset lidar point-cloud projection-mapping

Last synced: 2 months ago
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Creates a dense depth map from LiDAR point clouds.

• Host: GitHub
• URL: https://github.com/berensrwu/densemap
• Owner: BerensRWU
• License: apache-2.0
• Created: 2020-11-27T13:13:16.000Z (about 4 years ago)
• Default Branch: main
• Last Pushed: 2022-09-19T09:18:22.000Z (over 2 years ago)
• Last Synced: 2024-08-19T17:09:51.643Z (5 months ago)
• Topics: depth-map, kitti-dataset, lidar, point-cloud, projection-mapping
• Language: Python
• Homepage:
• Size: 1.71 MB
• Stars: 71
• Watchers: 1
• Forks: 14
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Get a dense Depth map from sparse LiDAR point clouds

This repository contains a short python script to get a dense depth map from a LiDAR point cloud for a known camera. The original code is written in matlab and is from balcilar(https://github.com/balcilar/DenseDepthMap).

In dense_map.py is the function to generate the dense depth map (depth_map) and in main.py the code is used on the KITTI dataset.

depth_map gets the projected LiDAR point cloud, the size of the camera image and the grid size. A grid size of 4 means a 9x9 neighbourhood is used and weighted depth information is calculated according to the distance of the neighbourhood. 

![](https://github.com/BerensRWU/DenseMap/blob/main/image/depth_maps.png)