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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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PointCloud format #67

Closed YangSiri closed 3 years ago

YangSiri commented 3 years ago

Hi, @Livox-SDK

I'm curious about the PointXYZRTL format of livox lidar point cloud. Are all livox series support this? What does the tag and line parameter mean? Because I found these two value are 0 for MID-40 data. And what about the Customized point cloud format?

Looking forward to your help ;>

Livox-SDK commented 3 years ago

Hi,YangSiri MID-40/MID-100 doesn't support the tag flag, but Horizon/Tele/Mid70/Mid70Pro support it. The Customized point cloud format is livox defined format , the description of this pointcloud format is in README.md

YangSiri commented 3 years ago

Thanks, @Livox-SDK

Could you please show me where i can find the understanding of tag and line flag? And do all livox lidars support Customized point cloud format?

Livox-SDK commented 3 years ago

Hi,YangSiri you can reference the following link: Livox-SDK-Communication-Protocol image

There are six lasers in Horizon/Tele,but only one in Mid40/Mid100; line tag is the index of lidar lasers, the value of the line tag is 0,1,2,3,4 or 5; In Mid40/Mid100, the line tag is always '0'.

goldqiu commented 1 year ago

Is there only one lasers in Mid70？ I also printf the information of the ‘line’ ,but it has no output information. Could you please answer my question? Thank you.