kitti 64-line data extraction of 32 lines

Recently, it is necessary to migrate the kitti data to the target classification of the 32-line radar, so I specially did a job of downsampling the kitti’s 64-line data to 32 lines, and only found out that there are pits in the kitti data set.

How to use python to parse livox lvx file

The LVX file parsed according to the DJI protocol and displayed with open3d. The LVX file is the data of the horizon lidar downloaded from the official website of DJI. The data of other livox lidars should also be parsed OK.

Point cloud automatic ICP registration (with open3d python code)

Encapsulated the existing ICP GICP registration algorithms.

And it integrates commonly used operations before and after registration,

How to use python parsing velodyne 16 line lidar pcap file

It mainly uses the pcap file parsed by dpkt, and then parses the UDP data according to the velodyne protocol.

# -*- coding: UTF-8 -*-
import dpkt
import collections  # 有序字典需要的模块
import time
import numpy…

Camera and lidar time synchronization (based on ROS)

Idea:
Soft synchronization: subscribe to the raw data of the camera and lidar, then synchronize the time, and finally publish the synchronized data for recording through ROSBAG record

The python program in ros is stuck, rospy. init_node stuck problem solved

The python program in ros is stuck rospy. init_node stuck

A very simple ros inside the python program , the program runs to rospy.init_node (‘talker’, anonymous = True) will be…

Robot automatic charging, looking for base, lidar point cloud specific shape recognition ( ROS python Code )

Cv :: Mat specifies channel setting specific value, single channel assignment c++ code

Lidar point cloud projection to front view (with python code)

Camera images color Livox LiDAR point clouds (python code, single file)