Re: Livox Avia, + Depth cameras and organized point clouds.
Posted by FPSychoric on Dec 04, 2022; 9:08am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200p9215.html
Thanks so much by you great answer and even consider the possibility of add the depth+RGB from lidar's pointclouds.
I will try to sell you why I think it would be useful you add such feature to Rtabmap
, it is a little long and my English is quite bad.
I think always would be interesting have the option to rtabmap get ordened pointclouds (with NaN as you said) if the lidar don't support it natively (would be great as livox are cheaper ) and can get depth+RGB from Lidar pointclouds and saved channel RGB per pixel in LAS format. Not sure if both things can be done at the same time and are compatible with each other, so the depth data would come from a ordered pointcloud and later added the RGB data.
I think it would add a new functionality to RTBMAP and with it to ROS (now is mainly mapping for navigation use), can use Rtabmap to make 3D scanner for large scale and its data would be supported by Reality Capture or Metashape and they can even fuse that lidar ordered pointclouds with photogrammetry.
An example of use is can use such data for 3D modeling, 3D assets creation for video games i.e Unreal Engine, easy creation BIM maps, and even just with get ordened pointclouds would be much more easy make surface reconstruction,as I understand you would get normals to make the mesh easier. I think it could give cheap access to such kind of data for academic, hobby use, no many people can access to a terrestrial scanner and no many people share that scans / pointclouds for learning.
Right now, import a PCL dense pointcloud2 in Cloud compare/meshlab , make normals ( many times are not made properly) and meshing it with a decent quality is a very hard job. Can mesh things better thanks to the above could be used for 3d model creation or in example scan better a big sculpture, a facade, or heritage conservation.
A great use for robotics would be can make much easier maps for navigation based in meshes with mobe_base_flex and mesh_navigation packages
https://github.com/uos/mesh_navigation
This would help to make reliable robots with less computing power., Helping again to the academic and hobby users.
Those are the uses that I at least would give it.
Another use in robotics would be for simulation, with rtabmap givinge such data a "cheap" rig could make very easy nice maps for simulation for autoware, gazebo, Isaac Sim..
I have a handheld LiVOX system with the camera realsense d435/lidar/IMU and GNSS positioning as option, everything is synchronized and calibrated and have quite powerful computer (i7), I would be glad in make any test you need to add this features take you the less effort possible, I cannot help in many more to be honest.
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200p9215.html
Thanks so much by you great answer and even consider the possibility of add the depth+RGB from lidar's pointclouds.
I will try to sell you why I think it would be useful you add such feature to Rtabmap
, it is a little long and my English is quite bad.
I think always would be interesting have the option to rtabmap get ordened pointclouds (with NaN as you said) if the lidar don't support it natively (would be great as livox are cheaper ) and can get depth+RGB from Lidar pointclouds and saved channel RGB per pixel in LAS format. Not sure if both things can be done at the same time and are compatible with each other, so the depth data would come from a ordered pointcloud and later added the RGB data.
I think it would add a new functionality to RTBMAP and with it to ROS (now is mainly mapping for navigation use), can use Rtabmap to make 3D scanner for large scale and its data would be supported by Reality Capture or Metashape and they can even fuse that lidar ordered pointclouds with photogrammetry.
An example of use is can use such data for 3D modeling, 3D assets creation for video games i.e Unreal Engine, easy creation BIM maps, and even just with get ordened pointclouds would be much more easy make surface reconstruction,as I understand you would get normals to make the mesh easier. I think it could give cheap access to such kind of data for academic, hobby use, no many people can access to a terrestrial scanner and no many people share that scans / pointclouds for learning.
Right now, import a PCL dense pointcloud2 in Cloud compare/meshlab , make normals ( many times are not made properly) and meshing it with a decent quality is a very hard job. Can mesh things better thanks to the above could be used for 3d model creation or in example scan better a big sculpture, a facade, or heritage conservation.
A great use for robotics would be can make much easier maps for navigation based in meshes with mobe_base_flex and mesh_navigation packages
https://github.com/uos/mesh_navigation
This would help to make reliable robots with less computing power., Helping again to the academic and hobby users.
Those are the uses that I at least would give it.
Another use in robotics would be for simulation, with rtabmap givinge such data a "cheap" rig could make very easy nice maps for simulation for autoware, gazebo, Isaac Sim..
I have a handheld LiVOX system with the camera realsense d435/lidar/IMU and GNSS positioning as option, everything is synchronized and calibrated and have quite powerful computer (i7), I would be glad in make any test you need to add this features take you the less effort possible, I cannot help in many more to be honest.
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