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This project is to perform motion correction on the raw lidar data. This is because the lidar scan takes 100ms to be completed, and during this time the vehicle may have moved. We apply a correction based on the odometry information from the vehicle

A filter used to remove lidar points belong to antennae and vehicle roof.

Velodyne package required for calibration related packages.

This project contains a ROS node that can take a pointcloud and project it into an image. The output is a pointcloud with RGB information, or a pointcloud with UV pixel coordinates