This is a ROS package (tested in ROS noetic) to convert Livox custom message to pcl pointcloud. The conversion include two types:
- Real-time conversion with a C++ ROS wrapper
- A Python script (
rosbag_msg_converter.py) to convert the topics inside a rosbag by postprocessing
livox_msg_pointcloud/
├── CMakeLists.txt
├── README.md
├── include
│ └── utils.h
├── launch
│ └── livox_converter.launch
├── package.xml
├── scripts
│ ├── rosbag_check.py
│ └── rosbag_msg_converter.py
└── src
└── livox_msg_pointcloud_node.cpp
The main conversion code is inside utils.h file and ivox_msg_pointcloud_node.cpp is a ROS node wrapper. You can also directly use the header file in our coude if you don't use ROS.
You can change the input topic name and output topic name in the launch file and then run
roslaunch livox_msg_pointcloud livox_converter.launch
or just give them as parameters in the terminal
roslaunch livox_msg_pointcloud livox_converter.launch input_topic:=/custom/input_topic output_topic:=/custom/output_topic scan_merge_count:=1
Parameters explained:
input_topic # the original Livox LiDAR point cloud in custom msg
output_topoic # the converted LiDAR point cloud in PCL pointcloud format
scan_merge_count #the original point cloud is in high frequency but very sparse. We can choose to low the frequency to get dense point cloud.
The script needs various libaries:
pip install open3d numpy tqdm
And here is how to run the script.
python convert_rosbag.py input.bag output.bag 2 /topic1 /topic2
- The python script is too slow now