LOAM Mapping Task 2 - Integrate imageProjection from LIO-SAM

[ataparlar]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I've agreed with the maintainers that I can plan this task.

Description

This task is the subtask of Point cloud feature extraction for LOAM based localization.

• https://github.com/autowarefoundation/autoware.universe/issues/6741

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In order to achieve LOAM mapping, firstly we need to project each point cloud into a planar surface. This can be an rangeMat.

Purpose

• Getting projected simultaneous rangeMat to use.

Possible approaches

• Use a matrix to create a projected point cloud rangeMat. The resolution of the matrix can change from point cloud to point cloud.

Definition of done

• [x] Visualize the rangeMat in RViz as a ROS2 topic.
• [x] See the rangeMat in ros2 topic echo ...

This subtask is done with this comment:

• https://github.com/ataparlar/loam-mapper/tree/9bb8983b96710685f7a4d4aae1f76e0d2fb61c32

[ataparlar]

Hi guys.

I export a scheme of the imageProjection.cpp of the LIO-SAM. We will work this structure for this issue.

[ataparlar]

Hi everyone,

I visualized the rangeMat created for feature extraction as an Image topic. Here is the video of it:

• https://youtu.be/0DJZfIX1ikA

You can see the visualization in the below image too.

[ataparlar]

This subtask is done with this commit:

• https://github.com/ataparlar/loam-mapper/tree/9bb8983b96710685f7a4d4aae1f76e0d2fb61c32