Purpose

Exwayz Colorization aims at colorizing LiDAR frames using images captured by one or multiple cameras. The user is expected to provide

camera(s) timestamps
eventual time offset between LiDAR and camera(s)
intrinsic calibration (camera matrix and distorsion coefficients) of the camera(s)
extrinsic lidar→camera calibrations

In particular, this software performs linear interpolation of the LiDAR poses to match the exact camera timestamps using the LiDAR odometry trajectory as output by exwayz_slam.exe. Also, as this software is intended to be used on motion compensated frames as output by exwayz_slam.exe

Command line options

General I/O

Name	Command line prefix	Default value	Definition
Directory of frames to colorize	`--ply`	Required	Path to the directory of frames to colorize.
Path to LiDAR trajectory	`-t`	Required	Path to odometry trajectory computed by exwayz_slam.exe
Configuration file	`-c`	Required	Path to the configuration file. See ‣
Disable writing	`--no-write`	-	Disable writing of results
Disable viewer	`--no-vis`	-	Disable viewer while processing
No accumulation in viewer	`--no-accum`	-	If the viewer is not disabled, it will by default accumulate frames along the input LiDAR trajectory. Setting `--no-accum` only shows the currently colored frame.

Output

Exwayz Colorization creates a directory frames_color in which the colored frames are written. Note that points that were not falling in any of the camera’s FoV are not written in this output frames.

`frame_xxxxxx.ply`	Frame with colors as scalar fields (r, g, b), values being in `[0,1]`