How to process Lidar point cloud data?

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.10.0
[1] DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
[1] Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
[1] DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
[1] other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Issue Description
Is there any Lidar sample provided to process point cloud data, and to get range image, BEV map, and intensity level?

3

Dear @akshay.tupkar,
Did you check point cloud processing module at DriveWorks SDK Reference: Point Cloud Processing

4

Thanks for sharing this info @SivaRamaKrishnaNV
I went through the code, I could see some API for range image creation.
But I could not see BEV map? The sample describes the fusion of point cloud data from two sensors?

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Yes. The sample fuses point clouds from two [VELO_HDL32E] recordings and one [VELO_HDL64E] recording

BEV map is not available.

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Okay Dear @SivaRamaKrishnaNV
Does nvidia provides its PCL libraries? I want to detect objects using LIDAR point cloud data

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Dear @akshay.tupkar,
There is no seperate PCL library from NVIDIA. The DW provided functionalities are at DriveWorks SDK Reference: Point Cloud Processing

9

Dear @SivaRamaKrishnaNV
Suppose If I dont want the fusion of these two recordings,Can I take a single recording from only one sensor and generate a range image?

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