Closed TZECHIN6 closed 1 year ago
return_type
we don't have this value implemented but the driver generates one point cloud on the topic /ouster/points
and if then sensor supports dual returns and the dual return mode was selected then you would get another point cloud published on the topic /ouster/points2
. In short, the data is there but we don't publish create this field, it would be very easy thing to add.channel
: is the same as ring
distance
: I think this coincidence with the range
fieldtime_stamp
: seems same as t
fieldazimuth
and elevation
are not implemented currently; there are probably different ways you could go about implementing these fields, I would consider using x,y,z
instead.Please note that I am currently working on a feature that allows users to choose a specific representation of the point cloud type (checkout: #216) .. I am planning to accommodate few other standard representations
Would you mind telling me hows the intensity
and reflectivity
are difference? And also whats the meaning of ambient
? Great thanks
Describe your question Whats are the current available Point data field, and their physical meaning?
I am trying to implement ouster lidar into autoware project, using this official ouster lidar driver. According from the document link, autoware expect to have Point structure in this way:
Base on my observation,
return_type
,azimuth
andelevation
are not directly being published right now. Forchannel
, does this has the same meaning toring
? Fordistance
, does this has the same meaning ofrange
? Fortime_stamp
, i believe its same ast
when selected ROS_TIME.If I have to enhance the data field from exist driver, which file should I focusing on modification? I believe those data is actually exist from where (might be need to reverse calculation to extract them out, say
ring
can be decouple intoazimuth
andelevation
?) Any hints and guidance would be appreciate.Screenshots Below is the struct of ouster Point now, I am not so familiar with some of the data field meaning in physical world, which are
reflectivity
,ring
andambient
, for ring I believe its referring which beam belongs to for that points, starting from the very top should be "0", I guess? Any document I can refer to about the meaning of those data field?Platform (please complete the following information):