Skip to content

Added 'ring' field in lidar point cloud generation. Updated ROS and R… #4611

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Added 'ring' field in lidar point cloud generation. Updated ROS and R… #4611

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion AirLib/include/sensors/lidar/LidarBase.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ namespace airlib
UpdatableObject::reportState(reporter);

reporter.writeValue("Lidar-Timestamp", output_.time_stamp);
reporter.writeValue("Lidar-NumPoints", static_cast<int>(output_.point_cloud.size() / 3));
reporter.writeValue("Lidar-NumPoints", static_cast<int>(output_.point_cloud.size() / 4));
}

const LidarData& getOutput() const
Expand Down
1 change: 1 addition & 0 deletions Unreal/Plugins/AirSim/Source/UnrealSensors/UnrealLidarSensor.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,7 @@ void UnrealLidarSensor::getPointCloud(const msr::airlib::Pose& lidar_pose, const
point_cloud.emplace_back(point.x());
point_cloud.emplace_back(point.y());
point_cloud.emplace_back(point.z());
point_cloud.emplace_back(laser);
segmentation_cloud.emplace_back(segmentationID);
}
}
Expand Down
7 changes: 4 additions & 3 deletions ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -733,14 +733,15 @@ sensor_msgs::PointCloud2 AirsimROSWrapper::get_lidar_msg_from_airsim(const msr::
lidar_msg.header.stamp = ros::Time::now();
lidar_msg.header.frame_id = vehicle_name + "/" + sensor_name;

if (lidar_data.point_cloud.size() > 3) {
if (lidar_data.point_cloud.size() > 4) {
lidar_msg.height = 1;
lidar_msg.width = lidar_data.point_cloud.size() / 3;
lidar_msg.width = lidar_data.point_cloud.size() / 4;

lidar_msg.fields.resize(3);
lidar_msg.fields.resize(4);
lidar_msg.fields[0].name = "x";
lidar_msg.fields[1].name = "y";
lidar_msg.fields[2].name = "z";
lidar_msg.fields[3].name = "ring";

int offset = 0;

Expand Down
7 changes: 4 additions & 3 deletions ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -651,14 +651,15 @@ sensor_msgs::msg::PointCloud2 AirsimROSWrapper::get_lidar_msg_from_airsim(const
lidar_msg.header.stamp = rclcpp::Time(lidar_data.time_stamp);
lidar_msg.header.frame_id = vehicle_name + "/" + sensor_name;

if (lidar_data.point_cloud.size() > 3) {
if (lidar_data.point_cloud.size() > 4) {
lidar_msg.height = 1;
lidar_msg.width = lidar_data.point_cloud.size() / 3;
lidar_msg.width = lidar_data.point_cloud.size() / 4;

lidar_msg.fields.resize(3);
lidar_msg.fields.resize(4);
lidar_msg.fields[0].name = "x";
lidar_msg.fields[1].name = "y";
lidar_msg.fields[2].name = "z";
lidar_msg.fields[3].name = "ring";

int offset = 0;

Expand Down