This repository contains the code for transforming lidar point cloud provided by nuscenes dataset to depth images. Some part of the code are borrowed from nuscenes-devkit.
Examples of the output depth images:
Camera image (for reference):
RGB depth image of lidar projected on left back camera:
Grayscale depth image of lidar projected on left back camera:
Note: nuscenes/python_sdk folder is the nuscenes-devkit with some extra functions to transform the Lidar point cloud to depth image.