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SICKAG / sick_scan_xd

A versatile driver for a wide range of SICK LiDAR and RADAR devices, providing support for both Linux (native, ROS 1, ROS 2) and Windows (native, ROS 2) platforms.
Apache License 2.0
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Sector contains doubled points in the full scan data #415

Open Nigel-BMV opened 4 hours ago

Nigel-BMV commented 4 hours ago

We are using the picoscan-150 to check a moving object, however we have noticed that occassionally the message data with the -1 ID has sections that are doubled. This messes with the data of the moving object creating a zone with unsure measurements. To get the full scan data, I'm using a filter on the SickScanPointCloudMsg segment_idx, where -1 gives me the full scene.

I have recreated the issue with a static scene. 103 Scans were taken, of which 8 scans have doubled data.

The data has a length of 333 in normal circumstances and visualised appears like : 09_01_21_116__333

The doubled data has a length of 393 and visually appears like : 09_01_21_253__393

The area which contains the doubled data : afbeelding

Debug console messaging, as you can see the message is 333 x 1, and 393 x 1 for the following with the first 60 x 1 doubled : 

[Info]: MsgPack/Compact-Exporter:   0 udp packages still in input fifo, 10 messages still in output fifo, current segment index: 9
[Info]: MsgPack/Compact-Exporter: 1740 udp scandata messages received, 2000 messages exported (scan+imu), 0% package lost.
[Info]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 21 export messages buffered.
[Info]: MsgPack/Compact-Exporter: 2000 messages exported at 172.114 Hz, mean time: 48.687 milliseconds/messages, stddev time: 25.724, max time: 251.363 milliseconds between udp receive and messages export, histogram=[30,6,8,4,8,7,9,6,8,10,1904]
C++ PointCloudMsgCb: 333 x 1 pointcloud message received
>>>>>> IMAGE CREATION : 09_01_29_126__333
C++ PointCloudMsgCb: 60 x 1 pointcloud message received
C++ PointCloudMsgCb: 60 x 1 pointcloud message received
C++ PointCloudMsgCb: 13 x 1 pointcloud message received
C++ PointCloudMsgCb: 60 x 1 pointcloud message received
C++ PointCloudMsgCb: 60 x 1 pointcloud message received
[Info]: MsgPack/Compact-Exporter:   1 udp packages still in input fifo, 14 messages still in output fifo, current segment index: 1
[Info]: MsgPack/Compact-Exporter: 1752 udp scandata messages received, 2009 messages exported (scan+imu), 0% package lost.
[Info]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 21 export messages buffered.
[Info]: MsgPack/Compact-Exporter: 2009 messages exported at 171.341 Hz, mean time: 48.789 milliseconds/messages, stddev time: 25.762, max time: 251.363 milliseconds between udp receive and messages export, histogram=[30,6,8,4,8,7,9,6,8,10,1913]
C++ PointCloudMsgCb: 15 x 1 pointcloud message received
C++ PointCloudMsgCb: 35 x 1 pointcloud message received
C++ PointCloudMsgCb: 21 x 1 pointcloud message received
C++ PointCloudMsgCb: 25 x 1 pointcloud message received
C++ PointCloudMsgCb: 15 x 1 pointcloud message received
C++ PointCloudMsgCb: 29 x 1 pointcloud message received
C++ PointCloudMsgCb: 60 x 1 pointcloud message received
C++ PointCloudMsgCb: 13 x 1 pointcloud message received
C++ PointCloudMsgCb: 333 x 1 pointcloud message received
>>>>>> IMAGE CREATION : 09_01_29_257__333
C++ PointCloudMsgCb: 60 x 1 pointcloud message received
[Info]: MsgPack/Compact-Exporter:   0 udp packages still in input fifo, 20 messages still in output fifo, current segment index: 0
[Info]: MsgPack/Compact-Exporter: 1761 udp scandata messages received, 2024 messages exported (scan+imu), 0% package lost.
[Info]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 21 export messages buffered.
[Info]: MsgPack/Compact-Exporter: 2024 messages exported at 170.709 Hz, mean time: 48.911 milliseconds/messages, stddev time: 25.760, max time: 251.363 milliseconds between udp receive and messages export, histogram=[30,6,8,4,8,7,9,6,8,10,1928]
C++ PointCloudMsgCb: 60 x 1 pointcloud message received
C++ PointCloudMsgCb: 60 x 1 pointcloud message received
C++ PointCloudMsgCb: 15 x 1 pointcloud message received
C++ PointCloudMsgCb: 35 x 1 pointcloud message received
C++ PointCloudMsgCb: 21 x 1 pointcloud message received
C++ PointCloudMsgCb: 25 x 1 pointcloud message received
C++ PointCloudMsgCb: 15 x 1 pointcloud message received
C++ PointCloudMsgCb: 29 x 1 pointcloud message received
C++ PointCloudMsgCb: 60 x 1 pointcloud message received
C++ PointCloudMsgCb: 13 x 1 pointcloud message received
C++ PointCloudMsgCb: 393 x 1 pointcloud message received
>>>>>> IMAGE CREATION : 09_01_29_406__393
C++ PointCloudMsgCb: 60 x 1 pointcloud message received
[Info]: MsgPack/Compact-Exporter:   0 udp packages still in input fifo, 20 messages still in output fifo, current segment index: 0
[Info]: MsgPack/Compact-Exporter: 1781 udp scandata messages received, 2043 messages exported (scan+imu), 0% package lost.
[Info]: MsgPack/Compact-Exporter: max. 2 udp messages buffered, max 21 export messages buffered.
[Info]: MsgPack/Compact-Exporter: 2043 messages exported at 170.024 Hz, mean time: 49.124 milliseconds/messages, stddev time: 25.821, max time: 251.363 milliseconds between udp receive and messages export, histogram=[30,6,8,4,8,7,9,6,8,10,1947]

Normal scan field data (X/Y/Z/Intensity)

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Doubled Sector scan field data (X/Y/Z/Intensity)

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-0.459785;0.694612;0.000000;0.000000;
-0.469117;0.695594;0.000000;0.000000;
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-0.485771;0.693856;0.000000;0.000000;
-0.494195;0.692800;0.000000;0.000000;
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-0.555003;0.685490;0.000000;0.000000;
-0.957309;1.161286;0.000000;0.000000;
-0.951226;1.133830;0.000000;0.000000;
-0.952747;1.115510;0.000000;0.000000;
-0.953809;1.097435;0.000000;0.000000;
-0.956826;1.081490;0.000000;0.000000;
-0.957425;1.063532;0.000000;0.000000;
-0.959337;1.046935;0.000000;0.000000;
-0.961031;1.030388;0.000000;0.000000;
-0.961626;1.013353;0.000000;0.000000;
-0.964275;0.998358;0.000000;0.000000;
-0.965845;0.982867;0.000000;0.000000;
-0.969526;0.969361;0.000000;0.000000;
-0.969296;0.952547;0.000000;0.000000;
-0.967589;0.934236;0.000000;0.000000;
-0.966909;0.917592;0.000000;0.000000;
-0.966920;0.901526;0.000000;0.000000;
-0.967291;0.886393;0.000000;0.000000;
-0.968383;0.871805;0.000000;0.000000;

Due to the real setup having objects in motion, meaning a variable amount of points; I am unable to filter this specific situation.

How do I prevent this from occurring, receiving just a singular full scan at all times?

rostest commented 4 hours ago

Thank you for your feedback. We will be analysing the behaviour in more detail. Are you using the API on Windows or Linux? Are you using the default settings in the launchfile with full angle range and last echo only? If optional filters are enabled, please post the configuration and the launchfile.

Nigel-BMV commented 4 hours ago

Are you using the API on Windows or Linux

Windows without ROS

Are you using the default settings in the launchfile with full angle range and last echo only?

The launch file is still in its default state, but I've included it here :

`<?xml version="1.0"?>

`

If optional filters are enabled

There are no optional filters in use, but we are using a distance limiter

Echo Filter = last Echo Distance filter 150-2000mm