Run the LiDAR Pose Estimation Script (Modified for Position only ‐ Summer 2025) - Carleton-SRL/SPOT GitHub Wiki

Activate the virtual environment

Before running the pose estimation script, you need to activate the virtual environment explained in (See:)

Open Command Prompt

• Press Win + R, type cmd, and hit Enter
• Or open your IDE's terminal window

Virtual environment command

lidar_venv\Scripts\activate

Choose the settings in the script

Once the virtual environment is activated, choose the Boolean options to modify the outputs you require from the script.

Select_Mode = "Live" # "Live"
platform = "Orin"
skip_frames = True # True, False - if yaw changes more than 35deg in between frames, the frame is skipped if set to True
send_package_udp =  True 
switch_distance = 1 # [m] If below, switch to short mode
visualizer_enabled = False # [bool]

• Select_Mode option is used to choose the 'Live' mode -- where the script uses data captured by the LiDAR.
• platform option is used to choose what Jetson is being used to run the pose estimation script.
• skip_frames is used to choose the option for skipping frames while estimating the correct orientation. For the summer 2025 research, the pose estimation script is modified to just estimate position, so this option should be set to False.
• send_package_udp is used to interface the computer vision algorithm with the GNC system, so to send real-time data, this option needs to be True to enable pose estimation using LiDAR
• switch_distance is used to choose the distance at which the LiDAR switches mode from 'Long Range' to 'Short Range/ Low-Ambient'
• visualizer_enabled is used to enable the option of visualizing point cloud alignment between the CAD model and LiDAR data; however, this option should be False when the Select_Mode is True

Run the script