This repository is a SDK for Unitree L1 LiDAR.
You can use the code interfaces in this repository to obtain point cloud data and IMU data measured in our lidar, as well as configure related parameters.
We provide three commonly used interfaces for our LiDAR:
The reference frame definition is illustrated in the following figure, which satisfies the right-hand coordinate system definition.
The origin of the lidar frame, which is used to represent coordinates of each point in a pointcloud, is located at the center of the bottom mounting surface of the lidar.
The IMU frame's axes are aligned and parallel to the directions of the point cloud coordinate system. The XYZ coordinates of its origin in the lidar frame is [-0.007698, -0.014655, 0.00667] in meters.
You can also go to our official website for further technical details of our lidar.
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