Added functionality to display IMU data alongside lidar data processing in the representations_example.cpp.
Validation
Successfully read the pcap and json files and display output as below:
Reading in scan from pcap...
1. Calculating 3d Points...
Let's see what the 2000th point in this cloud is... (-0, -0, 0)
2. Now we will apply this transformation to the look-up table:
-1 0 0 1500
0 1 0 0
0 0 -1 19961.8
0 0 0 1
Calculating 3d Points of with special transform provided..
And now the 2000th point in the transformed point cloud... (-0, 0, -0)
3. Getting staggered and destaggered images of Reflectivity...
4. Getting staggered and destaggered images of X Coordinate...
In the staggered image, the point at (123, 517) has reflectivity 0 and an x coordinate of 0.
In the destagged image, the point at (123, 517) has reflectivity 0 and an x coordinate of 0.
5. Getting IMU data...
IMU Timestamp: 0 ns
IMU Acceleration: [0, 0, 2.46256e+08] G
IMU Angular Velocity: [2.49464e-45, 1.60283e-42, 0] deg/s
Summary of Changes
Validation