Open kristianpaul opened 3 years ago
Many thanks to your help. Having a SLAM would be a good plus. The IMU feature has little relevance to my organization. I cannot put too much effort to implement it myself, but can provide the materials you would need.
I think the first step is to implement the en/decoding of the IMU packet. I'm using stuct with repr(C)
. You can define the IMU packet in the file.
https://github.com/jerry73204/rust-lidar-utils/blob/master/src/ouster/packet.rs
The second is the SLAM algorithm would depend on the LiDAR configuration. You can read the Config
type here.
https://github.com/jerry73204/rust-lidar-utils/blob/master/src/ouster/config.rs
The crate aims to provide essential utilities for LiDAR. I prefer a simple and configurable SLAM algorithm, or instead we can provide building blocks that are essential to build your SLAM. I'm glad if you find it useful.
Would be nice to support a slam algorithm in order to generate point cloud from both lidar and imu data from ouster lidar.
PD: I can help on this but wanted to create the feature request and also know what's eventually the idea with this project.