Get PointCloud pixel coordinates (camera plane)


Before discovering your dataset, I was using kitti. With kitti it is possible to project the pointcloud into the camera image plane by using the calibration matrix provide with the dataset. Is it possible with Nuscenes?

I know that there is a function called render_pointcloud_image but I don’t want to get the pointcloud on the image, I want the pixel coordinates and then assign to each pixel depth value.

Thanks you!

Hi, there is no dedicated function to do that. Just copy the code from that method and drop the rendering part.