[ros-users] [Discourse.ros.org] From 360 degree sparse point cloud (lidar) (PointCloud2 msg) to depth image?

[Jeremie]

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.





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