anh0001 / lidar_imu2npz

3D Point Clouds from Livox Mid-360 LiDAR on Mobile Robot

This project aims to build 3D point clouds from the 3D LiDAR Livox Mid-360 attached to a mobile robot. The sensor data, including LiDAR points, IMU, and TF, are recorded and processed by this project to perform SLAM (Simultaneous Localization and Mapping) and eventually create and visualize 3D point clouds.

Features

• Build 3D point clouds using Livox Mid-360 LiDAR.
• Perform SLAM with recorded LiDAR and IMU data.
• Visualize the 3D point clouds.
• Utilize Docker for easy setup and deployment.
• Supports ROS Noetic, RViz, and Gazebo with GPU acceleration.
• Multiple rosbags of Livox sensor recording and output a single or multiple NPZ files.

Prerequisites

• Docker
• NVIDIA Docker (for GPU support)

Installation

1. Clone the Repository

   git clone https://github.com/anh0001/lidar_imu2npz.git
   cd lidar_imu2npz

2. Initialize Submodules

   As this repository contains submodules, you need to initialize and update them:

   git submodule update --init --recursive

3. Build the Docker Container

   Use the provided script to build the Docker container:

   ./cmds.sh build-container

4. Start the Docker Container

   Enter the Docker container with the following command:

   ./cmds.sh start

5. Perform build packages using the command:

   ./cmds.sh build

Usage

1. Enter the Docker Container

   If the container is already running, use the following command to enter it:

   ./cmds.sh enter
   source devel/setup.bash

2. Source the Commands Script

   Inside the container, source the commands script to load the necessary environment variables:

   source cmds.sh

3. Prepare ROSBAG Data

   Place all your ROSBAG data into the rosbag/raw folder.

4. Run FastLIO Mapping

   Execute the following command to process the ROSBAG data and output the results in the rosbag/processed folder:

   ./cmds.sh run-fastlio-mapping

5. Combine Maps into a Single NPZ File

   To combine all processed maps into a single .npz file, run:

   ./cmds.sh combine-maps-to-npz

   This will output .npz files in the out folder.

   If you want to convert each map individually, run:

   ./cmds.sh map-to-npz

Visualization

Use RViz for visualizing the 3D point clouds.

To visualize a single .npz file, use:

./cmds.sh visualize-pc

To visualize all .npz files in the out/ folder, run:

./cmds.sh visualize-all

Contributing

1. Fork the repository.
2. Create your feature branch (git checkout -b feature/fooBar).
3. Commit your changes (git commit -am 'Add some fooBar').
4. Push to the branch (git push origin feature/fooBar).
5. Create a new Pull Request.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Acknowledgments

• Livox for the Mid-360 LiDAR.
• ROS for providing the robotics framework.
• Docker for containerization technology.