Hi,

I want to implement Early LiDAR — Camera Fusion according to the following Pic:

I have a 3Dlidar and RGBD camera, I know how to do 2d object detection , but about Lidar i donot know How to do pointcloud 2D projection? Would you please guide me? is there any packages? or python code? i want to implement the idea in the pic!

Ros, kinetic 16.04 python 2.7