Transforming PCD from Car Frame to Map Frame and Visualizing

Structure

The above project has 3 scripts :

• open.py--> This scripts converts the pcd from local frame to global frame by using odometry data and transformation matrix. The transformed pcd is stored in ply format.

• visualize.py This script uses open3d to visualise the saved ply file.

• transforms.py

Usage

1. To use open.py use ./create_map.sh #path_to_dump #path_to_store_ply #no. of folders in ./dump
2. To visualise use ./visualise_map.sh #path_to_stored_ply

Results