Re: Livox Avia, + Depth cameras and organized point clouds.
Posted by matlabbe on Dec 05, 2022; 1:42am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200p9220.html
Hi,
Thanks for sharing all those applications. Some of those ideas I already did with RTAB-Map, but the options are not always obvious. I did what I suggested to do in my previous post in that commit. I created a launch file for testing it here (velodyne+d435i) with this setup:
In this example, I use only IMU and RGB camera of the D435i.
From the resulting velodyne+RGB database, we can export in various formats, but I'll show LAS and RGB+depth frames + poses lidar + poses of the cameras:
Output LAS:
Example of 1 RGB frame with corresponding generated depth image from lidar reprojection:
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200p9220.html
Hi,
Thanks for sharing all those applications. Some of those ideas I already did with RTAB-Map, but the options are not always obvious. I did what I suggested to do in my previous post in that commit. I created a launch file for testing it here (velodyne+d435i) with this setup:
In this example, I use only IMU and RGB camera of the D435i.
From the resulting velodyne+RGB database, we can export in various formats, but I'll show LAS and RGB+depth frames + poses lidar + poses of the cameras:
rtabmap-export --las --cam_projection --scan --images --poses_camera --poses rtabmap.db
Output LAS:
Example of 1 RGB frame with corresponding generated depth image from lidar reprojection:
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