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https://github.com/engcang/SLAM-application

LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, DLO, DLIO, Ada-LIO, PV-LIO, SLAMesh, ImMesh, FAST-LIO-MULTI, M-LOAM, LOCUS, SLICT, MA-LIO application and comparison on Gazebo and real-world datasets. Installation and config files are provided.
https://github.com/engcang/SLAM-application
lidar lidar-inertial-odometry lidar-odometry multi-lidar-inertial-odometry robotics ros slam
Last synced: 3 months ago
JSON representation
Host: GitHub
URL: https://github.com/engcang/SLAM-application
Owner: engcang
License: bsd-3-clause
Created: 2021-05-05T21:19:16.000Z (over 3 years ago)
Default Branch: main
Last Pushed: 2024-09-12T17:54:41.000Z (5 months ago)
Last Synced: 2024-09-14T05:44:40.707Z (5 months ago)
Topics: lidar, lidar-inertial-odometry, lidar-odometry, multi-lidar-inertial-odometry, robotics, ros, slam
Language: C++
Homepage:
Size: 17.5 MB
Stars: 694
Watchers: 22
Forks: 100
Open Issues: 2
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project

README

        # SLAM-application: installation and test

+ 3D, single-LiDAR: [LeGO-LOAM](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM), [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM), [LVI-SAM](https://github.com/TixiaoShan/LVI-SAM), [FAST-LIO2](https://github.com/hku-mars/FAST_LIO), [Faster-LIO](https://github.com/gaoxiang12/faster-lio), [VoxelMap](https://github.com/hku-mars/VoxelMap), [R3LIVE](https://github.com/hku-mars/r3live), [DLO](https://github.com/vectr-ucla/direct_lidar_odometry), [PV-LIO](https://github.com/HViktorTsoi/PV-LIO), [SLAMesh](https://github.com/RuanJY/SLAMesh), and [ImMesh](https://github.com/hku-mars/ImMesh)

+ 3D, multi-LiDARs: [FAST-LIO-MULTI](https://github.com/engcang/FAST_LIO_MULTI), [M-LOAM](https://github.com/gogojjh/M-LOAM), [LOCUS2.0](https://github.com/NeBula-Autonomy/LOCUS), [SLICT1.0](https://github.com/brytsknguyen/slict/releases/tag/slict.1.0), and [MA-LIO](https://github.com/minwoo0611/MA-LIO)




## ● Results: 

### Single-LiDAR

+ [`video`](https://youtu.be/RCY_q_d2Xm0): Lego-LOAM vs LIO-SAM vs LVI-SAM

+ [`video2`](https://youtu.be/WvgGqeyHNzs): LIO-SAM vs LVI-SAM

+ [`video3`](https://youtu.be/3d4WtK6S4Ms): LIO-SAM vs FAST-LIO2

+ [`video4`](https://youtu.be/NmT0o268OLM): FAST-LIO2 vs Livox-mapping vs LOAM-Livox using [`Livox Mid-70 LiDAR`](https://www.livoxtech.com/mid-70), real-world

+ [`video5`](https://youtu.be/_RgtOdK53z4): FAST-LIO2 in the building with narrow stairs using [`Ouster OS0-128`](https://ouster.com/products/scanning-lidar/os0-sensor/), real-world

+ [`video6`](https://youtu.be/emiSJMcA8yM): FAST-LIO2 in the narrow tunnels using [`Ouster OS0-128`](https://ouster.com/products/scanning-lidar/os0-sensor/) on the UAV (drone)

+ [`video7`](https://youtu.be/kr9Z2e8I7YQ): Faster-LIO vs FAST-LIO in the building with narrow stairs using [`Ouster OS0-128`](https://ouster.com/products/scanning-lidar/os0-sensor/), real-world

+ [`video8`](https://youtu.be/7m2XBfcgJPM): VoxelMap in the building using [`Intel Realsense L515`](https://www.intelrealsense.com/lidar-camera-l515/), real-world

+ [`video9`](https://youtu.be/NYaT-bxGjvY): R3LIVE in the building and around the building using [`Livox Mid-70 LiDAR`](https://www.livoxtech.com/mid-70), [`FLIR Blackfly S`](https://www.flirkorea.com/products/blackfly-s-usb3/), [`Pixhawk4 mini`](http://www.holybro.com/product/pixhawk4-mini/), real-world

+ [`video10`](https://youtu.be/3QTjUONviYo): FAST-LIO2 vs Ada-LIO vs Point-LIO vs KISS-ICP in the building with narrow stairs, real-world

+ [`video11`](https://youtu.be/vxFBvXTuFoU): FAST-LIO2 vs Ada-LIO in Gazebo challenging environments

+ [`video12`](https://youtu.be/0udb2fRG6HY): DLO vs FAST-LIO2

+ [`video13`](https://youtu.be/r9wwldPYKUw): DLO vs DLIO vs Ada-LIO vs FAST-LIO2

+ [`video15`](https://youtu.be/NHPvLbztawY): Ada-LIO vs PV-LIO vs SLAMesh

+ [`video16`](https://youtu.be/0sVkY66pOpI): Ada-LIO vs PV-LIO

+ [`video17`](https://youtu.be/rOOKY9HVHzI): Ada-LIO vs ImMesh

### Multi-LiDARs

+ [`video14`](https://youtu.be/YQmjKMoBPNU): FAST-LIO-MULTI bundle update vs asynchronous update

---




## Dependencies

+ Common packages

~~~bash

$ sudo apt-get install -y ros-melodic-navigation ros-melodic-robot-localization ros-melodic-robot-state-publisher

~~~

+ [GTSAM](https://github.com/borglab/gtsam/releases) for `LVI-SAM` and `LIO-SAM`

~~~bash

$ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip

$ unzip gtsam.zip

$ cd gtsam-4.0.2/

$ mkdir build && cd build

$ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..

$ sudo make install -j8

~~~

+ [Ceres solver](http://ceres-solver.org) for `LVI-SAM`, `SLAMesh`, and `SLICT1.0`

~~~bash

$ sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev

$ wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz #LVI-SAM

$ wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz #SLAMesh, SLICT1.0

$ tar zxf ceres-solver-1.14.0.tar.gz #LVI-SAM

$ tar zxf ceres-solver-2.1.0.tar.gz #SLAMesh, SLICT1.0

$ mkdir ceres-bin

$ mkdir solver && cd ceres-bin

$ cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver"  #good for build without being root privileged and at wanted directory

$ make -j8 # 8 : number of cores

$ make test

$ make install

~~~

+ `glog`, `g++-9` and `gcc-9` for `Faster-LIO`

~~~bash

$ sudo apt-get install libgoogle-glog-dev

$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test

$ sudo apt update

$ sudo apt install gcc-9 g++-9

$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9

~~~

#### Note: When `Ouster-ros` package cannot be built with `gcc` and `g++` with the version higher than 6,

+ When building `ouster-ros`,

```bash

catkin b -DCMAKE_C_COMPILER=gcc-6 -DCMAKE_CXX_COMPILER=g++-6 -DCMAKE_BUILD_TYPE=Release

```

+ `CGAL` and `pcl-tools` for `R3LIVE`

```bash

$ sudo apt install libcgal-dev pcl-tools

Optionally,

$ sudo apt install meshlab

```

---




## Installation

### ● LeGO-LOAM

~~~shell

$ cd ~/your_workspace/src

$ git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

~~~




### ● LIO-SAM

~~~shell

$ cd ~/your_workspace/src

$ git clone https://github.com/TixiaoShan/LIO-SAM.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

~~~




### ● LVI-SAM

~~~shell

$ cd ~/your_workspace/src

$ git clone https://github.com/TixiaoShan/LVI-SAM.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

~~~

#### ● Trouble shooting for LVI-SAM

+ for `OpenCV 4.X`, edit `LVI-SAM/src/visual_odometry/visual_loop/ThirdParty/DVision/BRIEF.cpp:53`

~~~cpp

// cv::cvtColor(image, aux, CV_RGB2GRAY);

cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);

~~~




### ● FAST-LIO2

~~~shell

$ cd ~/your_workspace/src

$ git clone https://github.com/Livox-SDK/livox_ros_driver.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

$ cd ~/your_workspace/src

$ git clone --recursive https://github.com/hku-mars/FAST_LIO.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

~~~




### ● Faster-LIO

~~~shell

$ cd ~/your_workspace/src

$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty

$ tar -xvf tbb2018_20170726oss_lin.tgz

$ cd ~/your_workspace

$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb2018_20170726oss -DCMAKE_BUILD_TYPE=Release

~~~

### ● Faster-LIO on `ARM` architecture (e.g., Jetson Xavier)

~~~shell

$ cd ~/your_workspace/src

$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty

$ git clone https://github.com/syoyo/tbb-aarch64

$ cd tbb-aarch64

$ ./scripts/bootstrap-aarch64-linux.sh

$ cd build-aarch64

$ make && make install

$ gedit faster-lio/cmake/packages.cmake

Edit line 13 as:

    #set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib/intel64/gcc4.7")

    set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib")

$ cd ~/your_workspace

$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb-aarch64/dist -DCMAKE_BUILD_TYPE=Release

~~~




### ● VoxelMap

```bash

$ cd ~/your_workspace/src

$ git clone https://github.com/Livox-SDK/livox_ros_driver.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

$ git clone https://github.com/hku-mars/VoxelMap.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

```

#### ● Trouble shooting for VoxelMap

+ `/usr/include/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ ...`

  + You could meet this error in `ROS-melodic`. Fix as [here](https://github.com/ethz-asl/lidar_align/issues/16#issuecomment-504348488)

~~~bash

$ sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak

$ sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

$ sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h

$ sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

~~~




### ● R3LIVE

```bash

$ cd ~/your_workspace/src

$ git clone https://github.com/hku-mars/r3live.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

```

#### ● Trouble shooting for R3LIVE

+ `LiDAR incoming frame too old ...`

  + Original `Livox-ros-driver` does not publish the data with `ROS` timestamp, but `LiDAR` time.

  + So, use `modified livox-ros-driver` [here](https://github.com/ziv-lin/livox_ros_driver_for_R2LIVE)

  + If that does not solve the problem, edit `lddc.cpp` yourself, line 563:

  ```c++

  //livox_msg.header.stamp = ros::Time((timestamp - init_lidar_tim - packet_offset_time )  / 1e9 + init_ros_time);

    livox_msg.header.stamp = ros::Time::now();

    /**************** Modified for R2LIVE **********************/

    ros::Publisher *p_publisher = Lddc::GetCurrentPublisher(handle);

    if (kOutputToRos == output_type_)

    {

      p_publisher->publish(livox_msg);

    }

  ```

#### ● How to properly set configuration for R3LIVE

+ Camera calibration - use `Kalibr` or `camera_calibration`

  + `Kalibr` - refer original [repo](https://github.com/ethz-asl/kalibr)

  + `camera_calibration` - use as [here](https://github.com/heethesh/lidar_camera_calibration)

+ Lidar-Camera calibration

  + Other spinning LiDARs are not supported yet (for RGB mapping), but try to use `lidar_camera_calibration` [repo](https://github.com/heethesh/lidar_camera_calibration), if you want to.

  + For `LiVOX` LiDAR, use `livox_camera_calib` [repo](https://github.com/hku-mars/livox_camera_calib)

    + Record a `bag file` of LiVOX LiDAR data and capture the image from `RGB camera` you use.

    + Convert a `bag file` into a `PCD file` with (change directories in the launch file):

    ```bash

    $ roslaunch livox_camera_calib bag_to_pcd.launch

    ```

    + Then, calibrate LiDAR and camera as (change directories in the launch and config files):

    ```bash

    $ roslaunch livox_camera_calib calib.launch

    ```

#### **★Note**: extrinsic rotational parameter from `livox_camera_calib` should be transposed in the `r3live_config.yaml` file. Refer my [extrinsic result](r3live/extrinsic.txt) and [r3live config file](r3live/r3live_config.yaml)



  

  

  


  Left: Target image. Right: Target PCD





  

  

  


  Left: calibrated image and residuals. Right: calibrated image



 



  

  


  Sensor configuration of mine: Pixhawk4 mini as an IMU, FLIR Blackfly S USB3 (BFS-U3-23S3C-C), LiVOX MID-70






### ● Point-LIO

~~~shell

$ cd ~/your_workspace/src

$ git clone https://github.com/Livox-SDK/livox_ros_driver.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

$ cd ~/your_workspace/src

$ git clone --recursive https://github.com/hku-mars/Point-LIO.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

~~~




### ● KISS-ICP (ROS1)

~~~shell

$ cd ~/your_workspace/src

$ git clone https://github.com/PRBonn/kiss-icp.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

~~~




### ● DLO

```shell

$ sudo apt install libomp-dev libpcl-dev libeigen3-dev 

$ cd ~/your_workspace/src

$ git clone https://github.com/vectr-ucla/direct_lidar_odometry.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

```




### ● DLIO

```shell

$ sudo apt install libomp-dev libpcl-dev libeigen3-dev 

$ cd ~/your_workspace/src

$ git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry.git

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

```




### ● PV-LIO

```shell

$ cd ~/your_workspace/src

$ git clone https://github.com/Livox-SDK/livox_ros_driver

$ git clone https://github.com/HViktorTsoi/PV-LIO

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

```




### ● SLAMesh

```shell

$ sudo apt-get install build-essential cmake cmake-curses-gui libflann-dev libgsl-dev libeigen3-dev libopenmpi-dev \

     openmpi-bin opencl-c-headers ocl-icd-opencl-dev libboost-all-dev libopencv-dev libyaml-cpp-dev \

     freeglut3-dev libhdf5-dev qtbase5-dev qt5-default libqt5opengl5-dev liblz4-dev

# Ubuntu 18.04

$ sudo apt-get install libvtk6-dev libvtk6-qt-dev

# Ubuntu 20.04

$ sudo apt-get install libvtk7-dev libvtk7-qt-dev

$ git clone https://github.com/uos/lvr2.git

$ cd lvr2 

$ mkdir build && cd build

$ cmake .. && make

$ sudo make install

$ cd ~/your_workspace/src

$ git clone https://github.com/naturerobots/mesh_tools.git

$ git clone https://github.com/RuanJY/SLAMesh.git

$ cd..

$ catkin build -DCMAKE_BUILD_TYPE=Release

```

#### ● Trouble shooting for SLAMesh

+ With `Ceres` >= 2.0 version and `OpenCV` 4.X version, `ceres.solve` can occur error

+ Delete `OpenCV` dependency in `CMakeLists.txt`

```cmakefile

#target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})

target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})

```




### ● ImMesh

```shell

$ sudo apt-get install ros-noetic-cv-bridge ros-noetic-tf ros-noetic-message-filters ros-noetic-image-transport*

$ sudo apt-get install -y libcgal-dev pcl-tools libgl-dev libglm-dev libglfw3-dev libglew-dev libglw1-mesa-dev libxkbcommon-x11-dev

$ cd ~/your_workspace/src

$ git clone https://github.com/Livox-SDK/livox_ros_driver

$ git clone https://github.com/hku-mars/ImMesh

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

```

#### ● Trouble shooting for ImMesh

+ Use Ubuntu >= 20.04. Otherwise, `CGAL` version issue will bother you.




---

## Installation (Multi-LiDARs)

### ● FAST-LIO-MULTI

```shell

$ cd ~/your_workspace/src

$ git clone https://github.com/Livox-SDK/livox_ros_driver

$ git clone https://github.com/engcang/FAST_LIO_MULTI --recursive

$ cd ..

$ catkin build -DCMAKE_BUILD_TYPE=Release

```




### ● SLICT1.0

+ It need `Ceres` >= 2.1.0

```shell

sudo apt install libsuitesparse-dev libtbb-dev

sudo apt install ros-noetic-tf2-sensor-msgs ros-noetic-tf-conversions

sudo apt install libatlas-base-dev libeigen3-dev libgoogle-glog-dev

sudo apt install python3-wstool python3-catkin-tools python3-osrf-pycommon

cd workspace_1

git clone https://github.com/Livox-SDK/Livox-SDK

cd Livox-SDK/build

cmake .. && sudo make install -j12

cd workspace_1

git clone https://github.com/Livox-SDK/Livox-SDK2

cd Livox-SDK2 && mkdir build && cd build

cmake .. && sudo make install -j12

cd workspace_1/src

git clone https://github.com/livox-SDK/livox_ros_driver

git clone https://github.com/livox-SDK/livox_ros_driver2

cd livox_ros_driver2

./build.sh ROS1

>>> Make chained workspace, it will be good for your mental health

>>> because of livox_ros_driver2

cd workspace_2

source workspace_1/devel/setup.bash

cd workspace_2/src

git clone https://github.com/brytsknguyen/ufomap 

cd ufomap && git checkout devel_surfel

cd workspace_2/src

wget https://github.com/brytsknguyen/slict/archive/refs/tags/slict.1.0.tar.gz

tar -zxf slict.1.0.tar.gz

cd ..

catkin build

```




### ● MA-LIO

```shell

cd workspace/src

git clone https://github.com/minwoo0611/MA-LIO.git

cd..

catkin build

```

#### ● Trouble shooting for MA-LIO

+ If you get `PCL` error, just comment the `find_package` in `MA_LIO/CMakeLists.txt`

```cmake

#before

find_package(PCL 1.8 REQUIRED)

#after

#find_package(PCL 1.8 REQUIRED)

```

+ You might have to fix the `laserMapping.cpp` file's uncertainty calculation part

```cpp

// before

...

// for (int i = 0; i < (int)kf.lidar_uncertainty[num].size() - 1; i++)

...

// for (int i = 0; i < (int)kf.lidar_uncertainty[num].size() - 1; i++)

// after

...

for (int i = 0; i < (int)kf.lidar_uncertainty[num].size(); i++)

...

for (int i = 0; i < (int)kf.lidar_uncertainty[num].size(); i++)

```




### ● LOCUS2.0

```shell

sudo apt-get install ros-noetic-catkin python3-catkin-tools

sudo apt-get install ros-noetic-pcl-ros

sudo apt install ros-noetic-tf2-sensor-msgs ros-noetic-tf2-geometry-msgs ros-noetic-eigen-conversions

cd workspace/src

git clone https://github.com/NeBula-Autonomy/LOCUS.git

git clone https://github.com/NeBula-Autonomy/common_nebula_slam.git

cd ..

catkin build -DCMAKE_BUILD_TYPE=Release

```




### ● M-LOAM - Thanks to [Chanjoon](https://github.com/chanjoon)

+ It need `Ceres` >= 2.1.0

```shell

sudo apt install libomp-dev

cd workspace/src

git clone https://github.com/gogojjh/M-LOAM.git

cd ..

catkin build -DCMAKE_BUILD_TYPE=Release

```

#### ● Trouble shooting for M-LOAM

+ If you get `pcl_conversion` error, just comment them in `src/rosXXX.cpp`

```cpp

// #include 

```

+ If you get `cv` error in `kittiHelper.cpp`, fix them as:

```cpp

// cv::Mat left_image = cv::imread(left_image_path.str(), CV_LOAD_IMAGE_GRAYSCALE);

// cv::Mat right_image = cv::imread(left_image_path.str(), CV_LOAD_IMAGE_GRAYSCALE);

cv::Mat left_image = cv::imread(left_image_path.str(), cv::IMREAD_GRAYSCALE);

cv::Mat right_image = cv::imread(left_image_path.str(), cv::IMREAD_GRAYSCALE);

```

+ You will get segmentation fault right after running the code, fix `M-LOAM/estimator/src/imageSegmenter/image_segmenter.hpp`

```cpp

// before

//dist = sqrt(d1 * d1 + d2 * d2 - 2 * d1 * d2 * cos(alpha));

//alpha = iter->first == 0 ? segment_alphax_ : segment_alphay_;

// after (order matters)

alpha = iter->first == 0 ? segment_alphax_ : segment_alphay_;

dist = sqrt(d1 * d1 + d2 * d2 - 2 * d1 * d2 * cos(alpha));

// before

//cloud_scan[i].erase(cloud_scan[i].begin() + cloud_scan_order[index]);

//if (j % 5 == 0)

//    laser_cloud_outlier.push_back(cloud_matrix.points[index]);

// after

if (cloud_scan_order[index] >= 0 && cloud_scan_order[index] < cloud_scan[i].size())

{

    cloud_scan[i].erase(cloud_scan[i].begin() + cloud_scan_order[index]);

    if (j % 5 == 0)

        laser_cloud_outlier.push_back(cloud_matrix.points[index]);

}

```

---




## How to run

#### ● check each of config files and launch files in the folders of this repo

#### Trouble shooting for [`Gazebo Velodyne plugin`](https://bitbucket.org/DataspeedInc/velodyne_simulator/src/master/)

+ When using `CPU ray`, instead of `GPU ray`, height - width should be interchanged, I used [this script file](https://github.com/engcang/SLAM-application/blob/main/lidar_repair.py)