Some time ago I have been playing with this topic, converting pointclouds from a Velodyne to range-images using PCL. You can find some code [here (pointcloud_to_rangeimage)](https://github.com/artivis/pointcloud_to_rangeimage) to get you started. Disclaimer : It requires some extra work and polishing. Cheers. --- [Visit Topic](https://discourse.ros.org/t/from-360-degree-sparse-point-cloud-lidar-pointcloud2-msg-to-depth-image/3318/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: