lidar_hdl64_last_stereo_left for fog chamber dataset

[smartMechBeMo]

Hey,

thanks you very much for the great dataset.

I'm using the Fogchamber Dataset for some investigations. Is there a function to project the lidar pointcloud acquired from the Velodyne HDL64-S3D into left stereo image like the Seeing Though Fog dataset folder "lidar_hdl64_last_stereo_left"? I only found a function to plot the pointcloud, but then the distance information is no longer available.
It would be very helpful for us, if you also provide the data of the lidar pointclould projected to the left stereo camera of the fogchamber or even the function how to do this.

[MarioBijelic]

Hi @smartMechBeMo,

can you try out this function: https://github.com/princeton-computational-imaging/SeeingThroughFog/blob/master/tools/ProjectionTools/Lidar2RGB/lib/utils.py#L7. then you only need the calibration files which are for example loaded here, https://github.com/princeton-computational-imaging/SeeingThroughFog/blob/master/tools/ProjectionTools/Lidar2RGB/run_2d_projection.py#L38