PLICP tools for laser-scan calibration

Overview

This is a wrapper for plicp. The package contains:

• visualization tools
  • scripts/draw_iteration.py: This script will draw the correspondence for each laser scan data.
  • scripts/draw_result.py: This script will draw the trajectory of the robot based on the plicp results.
• plicp_wrapper
  • plicp_node.cpp: This cpp file will subscibe message using lcm and use plicp to calculate the transformation between each frame.

reference:

• https://censi.science/research/robot-perception/plicp/
• https://github.com/AndreaCensi/csm

Usage

plicp_wrapper

cd your_ws/plicp/build
cmake ..
make
lcm-logplayer-gui -l udpm://239.255.76.67:7(ip)
./plicp_node > result.txt

This plicp_node will save data in the following way:

• "ref-'timeStamp'.txt": The reference scan data for each timestamp.
• "sen-'timeStamp'.txt": The measurement scan data for each time stamp.
• "result.txt": The transformation for each iteration in plicp solver between each 2 neighbor scan. Also, the correspondence information.

draw_iteration.py

This script displays the correspondence between laser scan data.

draw_result.py

This script calculates the trajectory of the robot based on the result of plicp solver. Then, it compare this trajectory with the trajectory from odometry data.