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Livox-SDK / livox_ros_driver2

Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
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What is the "detected points property: Other", bits 4-5 in the tag field represent? #55

Open arihantlunawat opened 1 year ago

arihantlunawat commented 1 year ago

Hi,

I see that a significant portion of the points (between 1% - 3% per scan) are setting the tag field bits 4-5 which is specified as "detected points property: Other" in the manual. Can I get more insight into this property?

arihantlunawat commented 1 year ago

For quick reference:

Screenshot from 2023-07-05 10-19-34

full cloud size:      39936
normal_points_cloud size:  38763
not_normal_points__cloud size:  1173
Tag bins: 
[0 = 0 | 0 | 0]: 38763   [1 = 1 | 0 | 0]:   119   [2 = 2 | 0 | 0]:    86   [4 = 0 | 1 | 0]:   346   [5 = 1 | 1 | 0]:     2   [6 = 2 | 1 | 0]:     1   [16 = 0 | 0 | 1]:   618   [32 = 0 | 0 | 2]:     1
georgflick commented 1 year ago

I had the same question and what I observed in the point cloud was, that the "other" points were always points near the lidar origin.

In the livox_viewer, when you select the noise filter, it also describes the "Other" points as "Filter dragging noises near the lidar". noise_filter