LOAM Based Localization Task 2 - Create depth image from the point cloud (project point cloud)

[ataparlar]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

For LOAM feature extraction, we need the depth image of the point cloud. For feature extraction, LIO-SAM structure is used. An example is here:

• LOAM Mapping Task 2 - Integrate imageProjection from LIO-SAM #6837

Purpose

Create the depth image from the undistorted point cloud.

Possible approaches

• Use a cv::Mat as a range matrix

Definition of done

• Get the depth image from undistorted point cloud

This task is completed with the commit:

• https://github.com/ataparlar/autoware.universe/tree/68e67a8df53b703206839862cca351c5ce83f6e0

[ataparlar]

Here is the depth image created from a rosbag data:

[ataparlar]

This task is completed with the commit:

• https://github.com/ataparlar/autoware.universe/tree/68e67a8df53b703206839862cca351c5ce83f6e0