[Discourse.ros.org] From 360 degree sparse point cloud (lidar) (PointCloud2 msg) to depth image?
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.
Hey Jeremie. Thanks for your helpful reply. I'm using a VLP16 (i saw the config file for a Velodyne 16 in the devel branch). Do you have by any chance a before/after shot of the latest version? I think it would be quite helpful to see what the output would look like :slight_smile: