Re: Livox Avia, + Depth cameras and organized point clouds.

Posted by matlabbe on Nov 27, 2022; 3:15am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200p9210.html

I assume your 4x4 matrix looks like

[R00 R01 R02 Tx]
[R10 R11 R12 Ty]
[R20 R21 R22 Tz]
[0   0   0   1]

You can find some examples on internet on how to convert the rotation matrix (R3x3) to a Quaternion or Euler angles. You can then use a static_transform_publisher to publish the transform (note that you have already the translation part Tx-Ty-Tz).

What do you mean by "organized pointclouds"? do you want an organized 3D map organized (which I am not sure it is possible) or that for each RGB frame, you generate the corresponding Depth image from the lidar data?

There are some options with rtabmap to color a lidar point cloud or to generate depth image from lidar registered to RGB camera.

cheers,
Mathieu