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There's a general procedure for estimating projection transformation between camera and 3d lidar but there's a secondary problem which is associating pixels with depths in a grid which isn't uniformly sampled.

What is the correct approach to doing this? Both the pre and post transformed depth points lack a grid structure. The pre-transformed points lack a grid structure because the sampling is time instead of angle based so you get variations in the angles. The post-transformed grid is obviously not going to be uniformly sampled either,

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  • $\begingroup$ Define your terms first. Otherwise, nobody will understand your question. $\endgroup$ Nov 17 '21 at 3:35
  • $\begingroup$ Your problem is typically called ray casting. Back projecting the grid to the camera coordinate will work too. $\endgroup$ Nov 17 '21 at 3:35

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