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IPM to laser scan?

I am doing a lane detect program for use in conjunction with ROS Kinetic for an IGVC robot. I have a python program in OpenCV3 that produces an IPM with detected lanes as white and black everything else. My thought process is transforming this "overhead view" into a laser scan (or PCL), then layer it with my Lidar's /scan to treat the lines as walls.

  1. Is this possible / Am I going about this in an overly difficult way?
  2. Is there a way to transform my IPM (black with white "obstacles") to a laser scan inside OpenCV that I can then grab with CV bridge?

I have a Realsense D415 so I could use RGBD data if that helpful.