A set of projects aimed at working with usyd datsets. Includes a c++ implementation to read a set of bag + h.264 files and publish them as if it was running live

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

A library for transformation with uncertainty. It provides functions such as ego-motion prediction/correction and Gaussian/pointcloud transformation with or without uncertainty.

Example code for communicating with tuatara_server in tuatara package.

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

Python scripts to perform queries and plot data from the bag database

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