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jerry73204 / rust-lidar-utils

Encode and decode Velodyne and Ouster lidar packets in Rust

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feature request: slam support for ouster

kristianpaul opened this issue · comments

commented

Would be nice to support a slam algorithm in order to generate point cloud from both lidar and imu data from ouster lidar.

PD: I can help on this but wanted to create the feature request and also know what's eventually the idea with this project.

commented

Many thanks to your help. Having a SLAM would be a good plus. The IMU feature has little relevance to my organization. I cannot put too much effort to implement it myself, but can provide the materials you would need.

I think the first step is to implement the en/decoding of the IMU packet. I'm using stuct with repr(C). You can define the IMU packet in the file.
https://github.com/jerry73204/rust-lidar-utils/blob/master/src/ouster/packet.rs

The second is the SLAM algorithm would depend on the LiDAR configuration. You can read the Config type here.
https://github.com/jerry73204/rust-lidar-utils/blob/master/src/ouster/config.rs

The crate aims to provide essential utilities for LiDAR. I prefer a simple and configurable SLAM algorithm, or instead we can provide building blocks that are essential to build your SLAM. I'm glad if you find it useful.