New ROS2 package for dynamically interpolating 3D LiDAR point clouds

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ROS2 package for dynamically interpolating 3D LiDAR point clouds
ROS2 package for dynamically interpolating 3D LiDAR point clouds2507×842 637 KB

I am excited to introduce a new ROS2 package for dynamically interpolating 3D LiDAR point clouds. This package provides a powerful and efficient way to enhance the quality and density of your point cloud data in real-time.

Key Features:

  • Dynamic Interpolation: Fine-tune interpolation parameters on-the-fly to achieve dense and continuous point clouds.
  • Noise Reduction & Resampling: Clean up noisy data and generate smoother representations.
  • High Performance: Optimized C++ implementation with PCL and Eigen for real-time processing.
  • Multiple Interpolation Methods: Choose from various techniques including:
    • Bilinear
    • Bilateral
    • Edge-aware
    • Spline
    • Nearest neighbor
  • ROS2 Independent Logic: Core logic implemented in pure C++ with PCL and Eigen, ensuring flexibility and portability.

See it in Action:

Video demonstrating the package with Foxglove visualizer

Package repository:

Link to GitHub repo

Applications:

Explore potential use cases in my previous post

This package is designed to be a valuable tool for researchers and developers working with 3D LiDAR data in ROS2. We encourage you to try it out and provide feedback!