This project is used for lidar point cloud undistortion.

Overview

livox_cloud_undistortion

This project is used for lidar point cloud undistortion. During the recording process, the lidar point cloud has naturally the distortion due to the affect of ego motion. Using the interpolation of ego motion, the distortion can be eliminated by transforming each point to the frame head or tail coordinate. Figures below show an example of undistortion. The left figure shows the row point cloud. The right figure shows the result of rotation distortion deskew.

Prepare the data

Data type: rosbag
Topics:

  • /livox/lidar type: livox_ros_driver::CustomMsg (transformed to sensor_msgs::PointCloud2 in the node livox_repub)
  • /livox/imu type: sensor_msgs::Imu

Dependency

  • ROS
  • PCL
  • livox_ros_driver

Build

In your work space

catkin_make

Run

source devel/setup.bash
roslaunch livox_dedistortion_pkg run.launch

Interface introduction

The member function UndistortPcl of the class ImuProcess defined in the header data_process.h, is used for the point cloud undistortion. The parameter Sophus::SE3d Tbe is the egomotion. If you can provide ego motion, just call this function. Otherwise, the function Process (also a member function of the class ImuProcess) is anothor choice, which uses the IMU data to deskew the rotation distortion.

Issues
  • external parameter

    external parameter

    https://github.com/Livox-SDK/livox_cloud_undistortion/blob/d4df84681c075f5d2d5a9c677bef54c9a4a5d33e/src/livox_dedistortion.cpp#L171

    q_il, t_il means imu is base frame? and for Horizon should be set "1, 0, 0, 0, 0.05512, 0.02226, -0.0297 " ?

    opened by PyNancy 0
  • package.xml correction

    package.xml correction

    livox_dedistortion_pkg 0.0.0

    dekew

    Livox Dev Team BSD Livox Dev Team

    <buildtool_depend>catkin</buildtool_depend> <build_depend>roscpp</build_depend> <build_depend>std_msgs</build_depend> <build_depend>sensor_msgs</build_depend> <build_depend>livox_ros_driver</build_depend> <build_depend>eigen_conversions</build_depend> <build_depend>pcl_conversions</build_depend> <build_depend>pcl_ros</build_depend>

    <run_depend>sensor_msgs</run_depend> <run_depend>roscpp</run_depend> <run_depend>std_msgs</run_depend> <run_depend>livox_ros_driver</run_depend> <run_depend>eigen_conversions</run_depend> <run_depend>pcl_conversions</run_depend> <run_depend>pcl_ros</run_depend>

    opened by fperasso 0
  • these lines format is error, should be com com"">

    these lines format is error, should be com"" -> com"

    https://github.com/Livox-SDK/livox_cloud_undistortion/blob/6078fcea50bbeca8a07e9f37ed29b4051903aee1/package.xml#L10 https://github.com/Livox-SDK/livox_cloud_undistortion/blob/6078fcea50bbeca8a07e9f37ed29b4051903aee1/package.xml#L14

    opened by PyNancy 0
Owner
livox
https://www.livoxtech.com/
livox
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