3D Pointcloud or Georeferenced 3D Pointcloud (i.e. las/laz file) if possible -Question not issue

[ns-1m]

Hi,

I know that you are not using IMU/GPS sensor for this loam_livox, can the result of loam_livox converted in las/laz file for RS/GIS analysis? Can the loam_livox rosbag be georeferenced 3D Pointcloud?

However, if you have IMU/GPS sensor attached to livox mid-40, what would be a possible scenario regarding using this loam_lidar for georeferencing 3D pointcloud?

Thanks.

Noli

[ziv-lin]

Sorry, I am not familiar with the topic about "las/laz file for RS/GIS analysis", but I can provide you some tools to save and reload the point cloud in the coming update, I think this might be useful for you. Please wait with patience~

[ns-1m]

Thanks for replying.

PDAL is the tool that use for LiDAR processing.
https://pdal.io/about.html

Las and Laz LiDAR files
https://pdal.io/stages/readers.las.html

Lastools
http://lastools.org/

Georeferencing
https://pdal.io/workshop/exercises/georeferencing/index.html

What I read that cartographer-ros can create georeferenced LiDAR.
https://google-cartographer-ros.readthedocs.io/en/latest/index.html

LiDAR, Type LiDAR and Modes of LiDAR Collection
https://pdal.io/workshop/lidar-introduction.html

Out of the topic. But I might be good if cheap RTK GNSS can be incorporated in Livox for georefencing Livox Lidar Pointcloud, etc.
https://community.emlid.com/t/reach-m-ros-integration/14028/5
https://emlid.com/au/reach/
https://github.com/enwaytech/reach_rs_ros_driver

Thanks. Noli

[ziv-lin]

Thanks a lot for your materials.
It needs some time for me to read such materials carefully, and I will consider adding such features (or providing some tools for conversion or evaluation) in the future.

[ns-1m]

OK.

I just like to add this reference
Georeferenced LiDAR 3D Vine Plantation Map Generation
https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231455/

libLAS
libLAS is a library for reading and writing geospatial data encoded in the ASPRS laser (LAS) file format, versions 1.0, 1.1 and 1.2. LAS-formatted data is heavily used in lidar processing operations.
https://github.com/libLAS/libLAS

Livox Viewer
-Support saving the point cloud data of the current frame or within the selected area as .csv and .las file
https://groups.google.com/forum/#!topic/livox-lidars/n275TVKi5Iw

Probably Rosbag file to lvx file -> Livox Viewer (lvx to las file)
https://github.com/Livox-SDK/Livox-SDK/tree/master/sample/lidar_lvx_file

Similar question : How do you Georeferencing PointCloud?
ouster-lidar/ouster-sdk#82

Thanks.

[humfrey28whu]

Sorry, I am not familiar with the topic about "las/laz file for RS/GIS analysis", but I can provide you some tools to save and reload the point cloud in the coming update, I think this might be useful for you. Please wait with patience~

Hi, I wonder how can I export the result to *.pcd files. Now I have recorded a rosbag file, and it looks good in rviz, but I can't get the coordinates of the points. How can I export them to *.pcd files? Then I can process them in pcl. Thank you!

[Egor-Morozov]

Hello!
You can install https://github.com/ANYbotics/point_cloud_io
This node can write every message of topic "/velodyne_cloud_registered" as ply cloud.
You have to edit rosbag.launch file (see example by link below)
After finish of:
roslaunch loam_livox rosbag.launch
rosbag play CYT_02.bag

you can open all ply (about 12500 for CYT_02) by cloudcompare and merge all ply parts.
And save result as las.
The link for example of rosbag.launch and the result - CYT_02.las = https://drive.google.com/open?id=1RhBJK3zEQTQWF9ixenswgs5YlTzAn_6p

wbr, Egor.

[AliveForU]

抱歉，我不熟悉“用于RS / GIS分析的las / laz文件”主题，但是我可以在即将到来的更新中为您提供一些工具来保存和重新加载点云，我认为这可能对您有用。请耐心等待〜

嗨，我想知道如何将结果导出到* .pcd文件。现在，我记录了一个rosbag文件，它在rviz中看起来不错，但是我无法获取这些点的坐标。如何将它们导出到* .pcd文件？然后，我可以在pcl中处理它们。谢谢！

Hi,I have the same question with you,do you have solutions now?

[fjc378209410]

Hi,
I am trying to combine livox and cartographer for slam, but my livox_frame keeps beating, how did you solve this problem?