This is a Python implementation of how to project point cloud from Velodyne coordinates into the left color image with KITTI data set.
matplotlib == 3.1.3
numpy == 1.18.1
Also tested with
matplotlib == 3.4.3
numpy == 1.23.5
Download KITTI dataset and place proj_velo2cam.py in the root path.
CLI is also supported, e.g. run with frame 000999
python3 proj_velo2cam.py 999
Just clone the whole repo and run proj_velo2cam.py.
By default, run with frame 000007 with path below:
.
├── data_object_image_2
│ └── testing
│ ├── image_2
│ │ └── 000007.png
│ └── projection
│ └── 000007.png
├── data_object_velodyne
│ └── testing
│ └── velodyne
│ └── 000007.bin
├── proj_velo2cam.py
├── readme.md
└── testing
└── calib
└── 000007.txt
