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,

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…

C ++ version receive serial gps rtk data, and then publish it as a ros node topic, with code

The code implements a ROS node that receives serial data and forwards it into ROS messages. Here is a simple explanation of the code:

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

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

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

Ros python node receives GPS RTK serial port messages and forwards ros topic messages

The code is a ROS (Robot Operating System) node for reading RTK (Real Time Dynamic) data from a GPS device and publishing it via the ROS topic.

Python implementation of 3D point cloud registration ICP algorithm (relying only on numpy)

The ICP algorithm’s intuitive idea is as follows:

If we know the correspondence of points on two point clouds, then we can use Least Squares to solve…

Use g2opy to do a simple two-dimensional loop optimization Slam (with python code)