valgur
commented
4 months ago Oh, right. velodyne_decoder transforms the point cloud to follow ROS conventions for the axes ordering:
- x - forward
- y - left
- z - up
That's definitely something that should be documented better. Thank you for mentioning this!
I used the snippet you provided for Decoding Velodyne data from a PCAP file , however the data comes out as Y , negative X , Z
instead of x,y,z . I compared it to veloview extracted csv and it indeed came out as Points_m_XYZ:1,-Points_m_XYZ:0,Points_m_XYZ:2
I know I can just multiply by -1 and rearrange , but am I doing something wrong ?
Sensor type : VLP-16