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Adding undistortion to LiDAR scans #388

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Adding undistortion to LiDAR scans #388

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@smauq smauq commented Apr 23, 2023 •
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  • Adding time units to internal LiDAR messages
  • Removing LiDAR to image projection as the LiDAR camera model is error-prone, this projection should rather be done with ring and scan information (but it doesn't provide that much benefit). LiDAR compression should rather be done with dedicated tools.
  • Added LiDAR undistortion based on current poses when integrating point cloud scans
  • Added min / max distance settings to LiDARs
  • Added a box robot filter for LiDARs to remove the robot or the operator from the point clouds.

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