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Livox Avia, + Depth cameras and organized point clouds.

Posted by FPSychoric on Nov 21, 2022; 2:22pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200.html

Hi, I'm interested in get organized/structured pointclouds to as the unorganized/unstructured pointclouds are problematic for reconstruction as you need make normals etc

I have a livox Avia with possibility of  Realsenses R200 and  D435i or OAK-D and OAK-D Pro W Dev(150FOV global shutter), but actually installed D435i, probably is better make it work first time with this one.

If it is possible I would like can get organized pointclouds with the lidar and the camera, and colourized with the RGB camera stream.

Right now, I have everything synched by nPTP, I have the camera/ lidar extrinsics in a 4x4 matrix that I don't know convert to TF without help as I don't know maths or programming, I have the internal Livox IMU delay, but I can get the d435 if needed, (maybe fuse them is better?). I can get external odometry synched and quite robust but without loop closure. I can get unorganized coloured pointcloud2 from other node (the same gives the odometry).
I can add RTK via Ublox M8T+RTKlib or PPK if it is needed.

With this info can you tell me if I can get organized pointclouds? Maybe passing laser cloud to depth with rtabmap pointcloud to depth node and reproject it? I tried but I got nothing, probably I do something wrong as I didn't read how to use that node yet.

Thanks, if you have a global idea about how do it is enough, I will find how to do it or ask if I get stuck, I don't want take you many time.

In other post here about Livox  Avia you asked  to the person how he got the Avia/Camera extrinsics in a 4x4 matrix but you didn't get answer , the way to do it is with this
https://github.com/hku-mars/livox_camera_calib

They have other node to get the IMU extrinsics and delay.

I hope that help you