Wierd Lidar image

[AbdullahJirjees]

Hello,

Do you have any idea why my liadar scan (Velodyne 32) is look like this?

I am using ROS2, GPU Nvidia A3000, CPU 11th Gen Intel® Core™ i7-11850H @ 2.50GHz × 16

[koide3]

You might forget enabling dynamic points integrator https://koide3.github.io/direct_visual_lidar_calibration/example/#2-preprocessing_1.

[AbdullahJirjees]

You were right I did not enable the dynamic point integrator, so I did enable it and here is the output results of the preprocessing step, any idea what I am missing? when I view the bag file .db3 on rviz2 it look just fine, but when i do the preprocessing step it do this... I am using the docker image.

When I tested on your Ouster dataset it look just fine but with mine it look shifted and the points are drifted like messy painting,

[BestVanRome]

@AbdullahJirjees have you had any progress on this one?