Please provide the following info (check/uncheck the boxes after creating this topic):
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
Target Operating System
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
SDK Manager Version
Host Machine Version
native Ubuntu 18.04
I’m trying to use sample_lidar_replay to visualize my recorded lidar data as a 3D point cloud. But the output is not as expected.
The recorded data has been sampled by a non-supported custom lidar. The lidar is not rotating. It creates a picture of 3260 points. 96 pictures have been recorded without moving the lidar.
I mapped my recorded data to the dwLidarDecodedPacket structure in the following why:
dwTime_t hostTimestamp; → currently set to 0
dwTime_t sensorTimestamp; → currently set to 0
dwTime_t duration; → should be 0 (nothing rotating)
uint32_t maxPoints; → 3260=1.920
uint32_t nPoints; → 1920
bool scanComplete; → true
const dwLidarPointRTHI* pointsRTHI; → spherical coordinates, intensity=0
const dwLidarPointXYZI* pointsXYZI; → set to NULL
I also changed the dwLidarProperties as follows:
spinFrequency = 30; → 30 frames per second
packetsPerSecond = 30;
packetsPerSpin = 1;
pointsPerSecond = 303260;
pointsPerPacket = 3260;
pointsPerSpin = 3260;
pointStride = 4;
In the sample_lidar_replay main.cpp I mainly made these changes:
· Instead of calling dwSensorLidar_readPacket I take the mapped date from my recorder file.
· I changed the coordinates from XYZ to RTH
· Function dwSensorLidar_returnPacket is not used
After building I execute the new sample_lidar_replay on nvidia drive AGX Xavier A. As output I can see a rectangular point cloud – see picture.
It shows a 360° point cloud, but as the lidar is not rotating I expected a theta = 70° point cloud only.
Is my mapping to dwLidarDecodedPacket and dwLidarProperties correct?
Is the sample_lidar_replay capable to work with spherical coordinates?
Do I have to define the coordinate system?