This repository is part of my pipeline to convert the pointcloud data of 5 x Livox Horizon LiDARs into the semantic KITTI format.
See Instructions here: LINK.
ROS Package - Merge multiple pointclouds and then store them as KITTI binary files
For now, this node uses 5 point clouds coming from 5 livox horizon lidars, mounted on a bicycle. This node reads each topic, transforms the pointclouds with information out of the ROS2 tf tree and merges them. 5 subscribers push the incoming point clouds into a fifo queue and then merge and store them as single .pcd file. Furthermore, the timestamp of each point cloud are checked and logged into a csv file.,
Start Merge Node to merge the pointclouds
ros2 run pointcloud_merge_and_kitti merge_and_kitti
Start ROSBAG Playback
ros2 bag play rosbag2_2022_06_21-12_56_43_0.db3 -s sqlite3 --rate 1
View Pointclouds
pcl_viewer full_cloud_x.pcd -fc 255,255,255 -bc 0,0,0