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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 does `line` (0~3) in Livox Mid360's pointcloud2(PointXYZRTLT) format mean? #75

Closed LarryDong closed 3 months ago

LarryDong commented 10 months ago

Hi,

For mid360, the xfer_format can be 0, which is "Livox pointcloud2(PointXYZRTLT) pointcloud format". I printed the line for L, and see the value is 0,1,2,3.

What does line mean? The Readme says:

uint8 line # laser number in lidar

Is laser the ring number for each scan? Are there only 4 lines (rings) at each scanning?

Call-Me-Jesse commented 10 months ago

Yes, mid360 is a four-wire scan.

LarryDong commented 10 months ago

Yes, mid360 is a four-wire scan.

Thanks Jesse~

af-doom commented 3 months ago

是的，mid360 是四线扫描。

您好，我采集的数据里tag是0是正常的吗

af-doom commented 3 months ago

您好，我采集的数据里tag是0是正常的吗

Hi,

For mid360, the xfer_format can be 0, which is "Livox pointcloud2(PointXYZRTLT) pointcloud format". I printed the line for L, and see the value is 0,1,2,3.

What does line mean? The Readme says:

uint8 line # laser number in lidar

Is laser the ring number for each scan? Are there only 4 lines (rings) at each scanning?

您好，我采集的数据里tag始终为0，line为0-3是正常的吗，另外我在这个仓库下https://github.com/hku-mars/LiDAR_IMU_Init下载的mid360数据line是0-5，tag也有数据

LarryDong commented 3 months ago

您好，我采集的数据里tag是0是正常的吗

Hi, For mid360, the xfer_format can be 0, which is "Livox pointcloud2(PointXYZRTLT) pointcloud format". I printed the line for L, and see the value is 0,1,2,3. What does line mean? The Readme says:

uint8 line # laser number in lidar

Is laser the ring number for each scan? Are there only 4 lines (rings) at each scanning?

您好，我采集的数据里tag始终为0，line为0-3是正常的吗，另外我在这个仓库下https://github.com/hku-mars/LiDAR_IMU_Init下载的mid360数据line是0-5，tag也有数据

正常。mid360是4个扫描头，scan是4。那个数据不是mid360，好像是avia。