How to get a depth image from velodyne data_points? : I am currently working on a problem where I have created an uint16 image of type CV_16UC1 based on velodyne data where lets say 98% of the pixels are black(value 0) and the remaining pixels have the metric depth information(distance to that point). These pixels correspond to the velodyne points from the cloud.<br>
<br>
`cv::Mat depthMat = cv::Mat::zeros(frame.size(), CV_16UC1);
depthMat = ... //here the matrice is filled`

If I try to display this image I get this:
[![enter image description here][1]][1]

From this image I need to get a denser depth image or smth that would resemble a proper depth image like in the example shown on this video: <br>
https://www.youtube.com/watch?v=4yZ4JGgLE0I
<br>
This would require proper interpolation and extrapolation of those points and it is here where is where I am stuck for days. I am a dummy when it comes to interpolation techniques. Does anyone know how this can be done or at least can point me to a working solution or example algorithm for creating a depth map from sparse data? <br>
I tried the following from the [kinect][2] examples but it did not change the output:

    depthMat.convertTo(depthf, CV_8UC1, 255.0/65535);

    const unsigned char noDepth = 255;
    cv::Mat small_depthf, temp, temp2;
	cv::resize(depthf, small_depthf, cv::Size(), 0.01, 0.01);

    cv::inpaint(small_depthf, (small_depthf == noDepth), temp, 5.0, cv::INPAINT_TELEA);
     
    cv::resize(temp, temp2, depthf.size());

    temp2.copyTo(depthf, (depthf == noDepth));
    cv::imshow("window",depthf);
    cv::waitKey(3);


  [1]: https://i.stack.imgur.com/3uhBa.png
  [2]: https://www.youtube.com/watch?v=u0A4OVZxzKQ