Is it possible to use Livox Mid 360 (a spinning lidar) and two cameras on two side of the lidar and use the algorithm to colorize 360 degrees data? about r3live HOT 5 CLOSED

Hi Oscar,

It is possible to run r3live with Livox mid 360, however, you need to make some modification with the source code.
In "loam/LiDAR_front_end.cpp" line 219, function horizon_handler has judged the points with x < 0.7 as an invalid data. This does not fit for a spinning lidar.
https://github.com/hku-mars/r3live/blob/6143a38537f28cb36eb24e9bbe2e39c8f7967157/r3live/src/loam/LiDAR_front_end.cpp#L215C1-L220C10
Thus, you should remove the condition "msg->points[ i ].x > 0.7" and use lidar type 1 in your config. This should work for your platform.

from r3live.

Thank you for the help. Now I can gather all 360 degrees of point cloud with my lidar.

from r3live.

Hi, may I ask how you managed to synchronize the point cloud messages published by mid360 with the image messages? Since mid360 uses livox_ros_driver2 not livox_ros_driver@oscarpoudel

from r3live.

@oscarpoudel

Hello!
Can you please inform us if you managed to get RGB pointcloud using mid360 and camera or cameras?

from r3live.