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Livox-SDK / livox_ros_driver

Livox device driver under ros, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.
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Problems setting spherical coordinates on Livox Horizon #49

Open Zlank opened 4 years ago

Zlank commented 4 years ago

Hello,

I want to use a point cloud with spherical coordinates, so as it says in the livox_ros_driver github, I set coordinate parameter to "1" and then I see what kind of coordinates I find. I always see cartesian coordinates instead of spherical.

I use a script to see the type of coordinates that the LiDAR is giving to me . So that I see (p.x, p.y, p.z, p.intensity) to see what kind of points are recorded (because that is the composition of a point in the pointcloud). As I am recording a wall, I see that x is almost constant, and the other parameters are variable.

Could you please tell me what I have done wrong?

Thanks in advance.

Livox-SDK commented 4 years ago

Hi,Zlank: The livox_ros_driver have convert the raw point data to Pxyzrtl or Pxyzr before pubulish.