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.

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…

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

Pointlio saves the odometer and point cloud data of each frame for automatic or manual loop optimization of post-processing

Modified the laserMapping.cpp file, replace the source program of this file, Pointlio saves the odometer and point cloud…

Fastlio2 saves the point cloud of each frame and the odometer of each frame as separate files for backend loop…

Using Python to do slam loop detection and graph optimization in window system

sensor_msgs in ros :: how to assign values to each field of NavSatFix

We first imported the ROS-related header file, and then created a sensor_msgs::NavSatFixtype message object navsat_fix_msg. Then, we assigned values to the various fields of the message object:

livox_mapping feature extraction code analysis

The code comes from livox_mapping, let me briefly say the conclusion: