championway/lidar_S2D

LIDAR Point Cloud from Sparse to Dense

lidar_S2D - LIDAR Point Cloud from Sparse to Dense using GAN

Development Environment

• Ubuntu 16.04
• ROS kinetic
• Point Cloud Library
• Realsense ROS
• Gazebo 7.14

Gazebo Equipment

Sensor

Depth Camera

• Kinect depth camera

LIDAR

• VLP-16 LIDAR
• VLP-32 LIDAR

How to run

Installation

$ sudo apt-get install ros-kinetic-gazebo-ros-*

Build

$ cd
$ git clone https://github.com/championway/lidar_S2D
$ cd ~/lidar_S2D/catkin_ws
$ source /opt/ros/kinetic/setup.bash
$ catkin_make

Note: Do the following everytime as you open new terminals

$ cd ~/lidar_S2D
$ source environment.sh

Open gazebo

$ roslaunch gazebo_run test.launch

Collect LIDAR depth image

$ rosrun rgbd_camera image_process

Predict point cloud sparse to dense

LIDAR point cloud to depth image

$ rosrun rgbd_camera lidar2depth

Depth image to LIDAR point cloud

$ rosrun rgbd_camera depth2lidar

GAN prediction

$ rosrun rgbd_camera sparse2nse.py