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ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
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Ouster Sensors #13466

Open hulsmeier opened 3 years ago

hulsmeier commented 3 years ago

Has anyone been able or attempted to get the perception module to work using Ouster sensors? Particulary the Ouster OS1-32. I'm not getting any detections currently.

alexiskovi commented 3 years ago

@hulsmeier, I have made a port from Ouster ROS driver some time ago, you can see it here. It's not clean at all and tested only on OS1-16, but I believe that you will able to take what you need.

hulsmeier commented 3 years ago

@alexiskovi Thanks! I'm able to get vehicle detections with ouster, but it refuses to detect pedestrians. I'm thinking its something to do with the intensity values?

ajay1606 commented 3 years ago

@hulsmeier Thanks for highlighting this issue, indeed I also agree with you that, Ouster Lidar needs Intensity normalization to run Apollo CNN modules. By the way, have you found any way to fix this issue? am also currently looking for the same.

Any comments appreciated.

Rgards, Ajay

alexiskovi commented 3 years ago

@hulsmeier, @ajay1606, oh, now I got what the problem actually is. As I remember Ouster Lidar have another intensity range. Some long time ago I have empiristically found that maximum is nearly 1724. So, In my old code I used this line, and it works. Unfortunately, I can't provide any information, why it works this way, but after this my perception module started working.

ajay1606 commented 3 years ago

@alexiskovi Thanks for your quick response. Recent Ouster 128 lidars intensity range shows maximum at 7900. And if I normalize to 0 to 255, It looks not smooth, due scaling from a high range to a small range, many intensity values with smaller ranges getting vanished.