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ethz-asl / COIN-LIO

🪙 COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry (ICRA 2024)
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Strange intensity image on OS0-128 Rev6 Sensor with latest firmware and ros driver #22

Closed zzxxtt closed 3 weeks ago

zzxxtt commented 3 weeks ago

Hello, Thank you for your great project. I use the OS0-128 Rev6 Sensor with latest firmware (v2.5.3) and latest ros driver (0.13.1) When running my own dataset, I found that the intensity image seems have some error, I'm not sure how it is cause. In ouster driver rviz it looks correct. The following image is the compare of two intensity image. compare I try to run the calibrate, the result is 0. And I also try both 1024x10 mode and 2048x10 mode, none of them seems correct.

The problem is because the destaggered point clouds feature introduces in ouster-ros driver 0.10.0, After 0.13.0 driver there's a new parameter destagger in launch file which can be set the false, can solve this issue

patripfr commented 3 weeks ago

Thanks for letting me know! Is the parameter that sets the destaggering included in the json? If so, I'll try to update the codebase to consider this.

zzxxtt commented 3 weeks ago

No, that parameter is in the launch file of latest ouster-ros. like <arg name="destagger" default="true" doc="enable or disable point cloud destaggering"/>

patripfr commented 3 weeks ago

That's very unlucky. I'll try to see if I can add a flag to also accommodate destaggered clouds in the future.

patripfr commented 1 week ago

This functionality is now also included in the main branch. You can activate it by launching with destagger:=false.