​ This repository is a barebones implementation for our paper Lidar with Velocity : Motion Distortion Correction of Point Clouds fromOscillating Scanning Lidars . It's a fusion based method to handle the oscillating scan Lidar points distortion problem, and can also provide a accurate velocity of the objects.

​ Here is a Wiki to give a brief intro about the distortion from TOF Lidar and our proposed method. For more infomation, u can also check out the paper arXiv.

Ubuntu and ROS. Tested on Ubuntu 18.04. ROS Melodic

Eigen 3.3.4

Ceres Solver 1.14.0

Opencv 3.2.0

Clone the repository and catkin_make:

cd ~/catkin_ws/src
git clone https://github.com/ISEE-Technology/lidar-with-velocity
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

First download the dataset and extract it.

replace the "DATASET_PATH" in config/config.yaml with your extracted dataset path (notice the "/")

Then follow the commands blow :

roslaunch object_undistort start.launch

there will be a Rviz window and a PCL Viewer window to show the results, press key "space" in the PCL Viewer window to process the next frame.