Closed snakehaihai closed 3 years ago
hi I found out that ouster lidar has shape of (16, 1024, 9) is it because of this that we have issue?
Yes, it could be. Looks like the Ouster LiDAR data is organized or grouped by the beams. Does your sensor have 16 beams?
Thanks for the quick response. Yes my lidar is 16 line lidar. I saw your video has 2 number 384, 4. what does those mean?
I believe that was the intensity channel data, which is only used for visualization colors here. Just make sure the points
array has N rows, corresponding to all points from all beams, and the first 3 columns represent X, Y, Z data. You may just disable the color map if you don't have an intensity channel. Apologies, I have not tested this on Ouster data, this was only tested on a Velodyne point cloud.
Thanks for the quick response. Yes my lidar is 16 line lidar. I saw your video has 2 number 384, 4. what does those mean?
N = 384 points (after filtering point in range), 4 columns representing X, Y, Z, intensity data
the 9 means x y z intensity t reflectivity ring noise range
So i should merge 16 ring with each 1024 points into one single 1024x16 points?
then behind remove t reflective ring noise range?
Try this out points = points.reshape(-1, 9)[:, :4]
add this on line 230, right after the data is loaded from the ROS message. This will remove the beam grouping and pick the first 4 columns for X, Y, Z, intensity - you can still use the color mapping now too.
Try this out
points = points.reshape(-1, 9)[:, :4]
add this on line 230
this is the correct solution i can see the depth now
I saw some other dude also have issue with ouster. OS-1 might be good to update to him as well
thanks bro
Hi thanks for the work I`ve read through all the posts and solved some of the bugs such as the color issues. mpl versions issue > 2.0
I`m using os 1 ldiar with 10hz rate and camera at 10 hz as well. I adjust the slop between 0.1 to 0.5 and change the inrange function of ldiar to various number. but i can't get the full point cloud to display properly![image](https://user-images.githubusercontent.com/6070995/105418497-316d2700-5c78-11eb-8a15-484753b094c8.png)
I eventually removed all teh inrage and tried to display all points. but problem it is still 2points. May i ask what could be the issue?