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

Posted by matlabbe on Dec 17, 2022; 1:08am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200p9255.html

Can you share a rosbag of the livox raw point cloud, with the imu topic you are using (and /tf, /tf_static topics)? I don't own a Livox lidar, so I cannot really say if it could be compatible with my lidar_deskewing node. Yes the https://github.com/Livox-SDK/livox_cloud_undistortion package seems doing lidar deskewing, so you may switch to it. I see a lot of errors that the input point cloud doesn't have "time" or "t" fields, so the returned point cloud is exactly the same as the input (skewed), so lidar_deskewing is not working for this setup.

Deskewing or undistorting a lidar scan is mostly related to moving lidars (scanning while moving). For survey lidar, you don't need deskewing as it is fixed during a scan.