10 How to use coordinate transformation

10.1 Introduction

rslidar_sdk can transform the coordinate of point cloud. This document illustrate how to do so.

Please check the Intro to hiding parameters for more details. Here is an example of the config.yaml.

10.2 Dependencies

rslidar_sdk depends on the libeigen library to do coordinate transformation. Please install it first.

sudo apt-get install libeigen3-dev

10.3 Compile

To enable transformation, set the CMake option ENABLE_TRANSFORMto be ON.

Compile directly
```
cmake -DENABLE_TRANSFORM=ON ..
```
ROS
```
catkin_make -DENABLE_TRANSFORM=ON
```

ROS2

colcon build --cmake-args '-DENABLE_TRANSFORM=ON'

10.4 Set LiDAR parameters

In the lidar-driver part of config.yaml, set the hiding parameterx, y, z, roll, pitch ,yaw.

common:
  msg_source: 1                                       
  send_packet_ros: false                                
  send_point_cloud_ros: true                                                 
lidar:
  - driver:
      lidar_type: RSAIRY           
      msop_port: 6699             
      difop_port: 7788
      imu_port: 6688              
      start_angle: 0               
      end_angle: 360             
      min_distance: 0.2            
      max_distance: 200           
      use_lidar_clock: true       
      pcap_path: /home/robosense/lidar.pcap     
      x: 1
      y: 0
      z: 2.5
      roll: 0.1
      pitch: 0.2
      yaw: 1.57

10.5 Run

Run the program.