acschaefer/ncltcloud

Python code to visualize accumulated NCLT point clouds

ncltcloud

Python code to visualize accumulated NCLT point clouds.

To run the script, first install the required Python modules:

pip install numpy open3d-python pyquaternion transforms3d

Second, at the beginning of the script, set the datadir variable to the path of the folder that contains the NCLT data. The folder datadir should contain at least velodyne_data and ground_truth.

Third, run the script. The output should look like below.

Synchronized point cloud:

Raw points projected into robot frame: