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Ivancaminal72 / MTH

Adaptation of LIDAR data to SLAM strategies in the automotive field
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How to use it? #1

Open Tish91000 opened 1 year ago

Tish91000 commented 1 year ago

Dear Sir,

I am a 2nd year student at UTBM, currently working on Visual Slam for a French competition. I came across your publication on "SLAM-BASED 3D OUTDOOR RECONSTRUCTIONS FROM LIDAR DATA" and found it very relevant. I would like to discuss further on implementing it.

Sincerely, Cyril

Ivancaminal72 commented 1 year ago

Hi Cyril, if you want more details about this investigation find attached my thesis disertation: Generation of basic SLAM maps from LIDAR images - Ivan Caminal.pdf Which of the experiments I did do you want to implement? Regards,

Tish91000 commented 1 year ago

Hi, I want to implement RTABMAP with lidar 3d and a pinhole camera. Is there any scripts to project to convert lidar to depth? And which launch file or command should I use?

Regards,

Ivancaminal72 commented 1 year ago

Hi Cyril, take a look to the function processPcd at: https://github.com/Ivancaminal72/ros_ddd/blob/main/src/data_to_rosbag/src/pcd_to_png.cpp#L562 First, you need to referenciate the lidar points to your camera with the T transformation, then project the points to the camera with the P transformation and perform some point elimination (if the lidar scan is 360 degres you should only consider points falling front-faced and only consider the ones falling within the sensor dimentions). In the function I combine the two transformations into a single PTr transformation in order to speed up the computation (I think with that I was able to obtain depth images close to realtime ~10 scans per second provided the Kitti velodine) Regards,