KITTI LiDAR to Depth Image Converter

This repository contains C++ based code implementation that converts the lidar frames of KITTI dataset into a 2D depth image. The idea behind this code was inspired from the Fast Range Image-based Segmentation of Sparse 3D Laser Scans for Online Operation paper.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. Please be noted that this code is tested on Ubuntu OS only.

Prerequisites

Aptitude Dependencies

$ sudo apt update
$ sudo apt -y install git curl wget cmake build-essential lsb-core unzip

Boost

$ wget https://sourceforge.net/projects/boost/files/boost/1.62.0/boost_1_62_0.tar.gz
$ tar -xzvf boost_1_62_0.tar.gz
$ cd boost_1_62_0
$ mkdir build
$ ./bootstrap.sh --with-libraries=filesystem --with-libraries=program_options
$ sudo ./b2 install -j$(nproc)

OpenCV

$ wget https://github.com/opencv/opencv/archive/3.4.8.zip
$ unzip 3.4.8.zip
$ cd opencv-3.4.8
$ mkdir build
$ cd build
$ cmake ..
$ make -j
$ sudo make install

Installation

You can skip this step and use the already built executable in github actions.

$ git clone https://github.com/ahmedfawzyelaraby/lidar-to-depth-image-converter.git
$ cd lidar-to-depth-image-converter
$ mkdir build
$ cd build
$ cmake ..
$ make -j

Usage

$ ./lidar-to-depth-image-converter -h # this command will get you the instructions you need to run the code.