The task is to georeferencing lidar data (read from ascii file) (structure ascii/headline: laser_id azi intensity elev dis mode GPS_Week GPS_microseconds x y z pps gps_valid), using precise trajectory from ascii (structure ascii/headline: GPSTime Latitude Longitude H-Ell X-ECEF Y-ECEF Z-ECEF Pitch Roll Heading), and output pointcloud in LAS file.
In project will be: matrix calculation, linear interpolation, ellipsoid interpolation, extraction a value in pixel on raster (tiff), coordinate system transformation using (GDAL or EPSG in WKT).
I have recently done work on velodyne VLP-16 sensor. The task was to parse .pcap file and generate .txt(ascii file) from it. Looking forward to working with you.