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Livox-SDK / livox_laser_simulation

A package to provide plug-in for Livox Series LiDAR.
MIT License
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Time stamp for each LiDAR point #26

Open Joanna-HE opened 5 months ago

Joanna-HE commented 5 months ago

Hi, can the livox_laser_simulation provide the exact time stamp for each LiDAR point?

I hope to hearing from you~

georgflick commented 5 months ago

they are all generated at the same time, so I guess you can just use header time?

Joanna-HE commented 5 months ago

I have checked the value of 'time' for each LiDAR point belonging to the same scan, and found the they are different from each other? If all the point are sampled at the same time, why the time value for each point is different?

Hope to hearing from you~

Best regards,

寄件者: Georg Flick @.> 寄件日期: 2024年6月3日 下午 07:08 收件者: Livox-SDK/livox_laser_simulation @.> 副本: @. @.>; Author @.***> 主旨: Re: [Livox-SDK/livox_laser_simulation] Time stamp for each LiDAR point (Issue #26)

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they are all generated at the same time, so I guess you can just use header time?

— Reply to this email directly, view it on GitHubhttps://github.com/Livox-SDK/livox_laser_simulation/issues/26#issuecomment-2144918020, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXUSNMW25NYM3QL4GULZFRFBVAVCNFSM6AAAAABIUSG6OWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNBUHEYTQMBSGA. You are receiving this because you authored the thread.Message ID: @.***>

georgflick commented 5 months ago

On the real sensor, due to the spinning of the sensor, each point has an offset_timestamp. But afaik that is not simulated in the livox_laser_simulation.

I have checked the value of 'time' for each LiDAR point belonging to the same scan, and found the they are different from each other? If all the point are sampled at the same time, why the time value for each point is different? Hope to hearing from you~ Best regards, … ____ 寄件者: Georg Flick @.> 寄件日期: 2024年6月3日 下午 07:08 收件者: Livox-SDK/livox_laser_simulation @.> 副本: @. @.>; Author @.> 主旨: Re: [Livox-SDK/livox_laser_simulation] Time stamp for each LiDAR point (Issue #26) This is an external email. they are all generated at the same time, so I guess you can just use header time? — Reply to this email directly, view it on GitHub<#26 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXUSNMW25NYM3QL4GULZFRFBVAVCNFSM6AAAAABIUSG6OWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNBUHEYTQMBSGA. You are receiving this because you authored the thread.Message ID: @.>

georgflick commented 5 months ago

I just had a quick look and in the csv file from the sensors, there is also an entry for time. Maybe you can use that to populate the time value for each point?

Joanna-HE commented 5 months ago

Hi, thanks for your prompt response. By using the entry for time, I can get the time value for each point. But is it at this time that the simulated laser point is emitted? If the LiDAR sensor is in motion, will the points of one scan have a motion distortion?

Hope to hearing from you~

Best regards,

寄件者: Georg Flick @.> 寄件日期: 2024年6月3日 下午 08:20 收件者: Livox-SDK/livox_laser_simulation @.> 副本: @. @.>; Author @.***> 主旨: Re: [Livox-SDK/livox_laser_simulation] Time stamp for each LiDAR point (Issue #26)

This is an external email.

I just had a quick look and in the csv file from the sensors, there is also an entry for time. Maybe you can use that to populate the time value for each point?

— Reply to this email directly, view it on GitHubhttps://github.com/Livox-SDK/livox_laser_simulation/issues/26#issuecomment-2145056617, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXW5GGG3SWBDRWXPPJLZFRNPLAVCNFSM6AAAAABIUSG6OWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNBVGA2TMNRRG4. You are receiving this because you authored the thread.Message ID: @.***>

kahowang commented 2 months ago

Hi, thanks for your prompt response. By using the entry for time, I can get the time value for each point. But is it at this time that the simulated laser point is emitted? If the LiDAR sensor is in motion, will the points of one scan have a motion distortion? Hope to hearing from you~ Best regards, … ____ 寄件者: Georg Flick @.> 寄件日期: 2024年6月3日 下午 08:20 收件者: Livox-SDK/livox_laser_simulation @.> 副本: @. @.>; Author @.> 主旨: Re: [Livox-SDK/livox_laser_simulation] Time stamp for each LiDAR point (Issue #26) This is an external email. I just had a quick look and in the csv file from the sensors, there is also an entry for time. Maybe you can use that to populate the time value for each point? — Reply to this email directly, view it on GitHub<#26 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXW5GGG3SWBDRWXPPJLZFRNPLAVCNFSM6AAAAABIUSG6OWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNBVGA2TMNRRG4. You are receiving this because you authored the thread.Message ID: @.>

Hello, @Joanna-HE @georgflick Have you solved this problem? I also want to know whether the point cloud motion distortion of the Livox LiDAR can be simulated in this livox_laser_simulation.

Looking forward for your reply~