Ouster lidar 64 support

[islamtalha01]

Hi,
Can you tell me that which line of code I needed to use this package for the ouster os1 64? I need to use this package with a rosbag recorded with point cloud and image topic. I need to use it for the automatic calibration package.i want to get dense point cloud in my rosbag so is the first setup is that to setup my sensor again and launch driver using floam launch file and then record again or I can just use rosbag file for this purpose?

[masterhui]

Hi, I have a similar request: I would like to use FLAOM with a Ouster OS0-64 dataset. I can see there are some hard coded angles here:

floam/src/laserProcessingClass.cpp

Lines 48 to 59 in 9fdb2ca

	else if (N_SCANS == 64)
	{
	if (angle >= -8.83)
	scanID = int((2 - angle) * 3.0 + 0.5);
	else
	scanID = N_SCANS / 2 + int((-8.83 - angle) * 2.0 + 0.5);
	if (angle > 2 || angle < -24.33 || scanID > 63 || scanID < 0)
	{
	continue;
	}
	}

which seem to match Kitti dataset Velodyne HDL-64E sensor (datasheet) But I am unsure which values I have to change. The Ouster OS0-64 also has 64 scan lines, but a vertical field of view of -45° .. +45°. Your help is appreciated.

[wh200720041]

hi @masterhui and @islamtalha01

from ouster website, note that there are several configuration as shown below

By default, it should be uniform beam spacing. We use uniform beam for example.
else if (N_SCANS == 64)
{
scanID = round((angle + 22.5) * 45.0 / 63.0);
if (scanID > (N_SCANS - 1) || scanID < 0)
continue;

}

However, for those who use OS0 and OS2,
The harware configuration is different, OS2 is 22.5 and OS0 is 90, please change accordingly based on the code above.

Hence, for OS0, it is
else if (N_SCANS == 64)
{
scanID = round((angle + 45) * 90.0 / 63.0);
if (scanID > (N_SCANS - 1) || scanID < 0)
continue;
}

You can leave you question here for different sensor support.

[masterhui]

Hello @wh200720041
thank you for your tips. I have followed your advice and replaced the above lines in laserProcessingClass.cpp for use with my Ouster OS0-64, which is configured for uniform 90° vertical field of view. However, after re-compiling the results look much worse than when using the original Velodyne code.

Map with original code:

Map with Ouster OS0-64 code:

Any ideas why this might be the case?
Regards

[islamtalha01]

Thank you for your response. i have closed that topic. I think it was built in IMU but not sure

…

On Thu, Jan 20, 2022 at 4:20 PM Julian Gaal ***@***.***> wrote: which IMU did you use? The built-in IMU? — Reply to this email directly, view it on GitHub <#46 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27GPXY7BZLRZLDKQW6DUW7VYXANCNFSM5F4IH7EQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>. You are receiving this because you were mentioned.Message ID: ***@***.***>

[masterhui]

Hi, here is a quick update. I managed to get this to work perfectly with data from my Ouster OS0-64. In case someone else is looking for a solution, please see patch below.
Settings-for-Ouster-OS0-64-90.patch.txt

[islamtalha01]

Thanks, I'll check it out.

…

On Fri, Jan 21, 2022 at 7:43 PM masterhui ***@***.***> wrote: Hi, here is a quick update. I managed to get this to work perfectly with data from my Ouster OS0-64. In case someone else is looking for a solution, please see patch below. Settings-for-Ouster-OS0-64-90.patch.txt <https://github.com/wh200720041/floam/files/7914461/Settings-for-Ouster-OS0-64-90.patch.txt> — Reply to this email directly, view it on GitHub <#46 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AT4S27CKMKQMIAWQIXETM7DUXFWHTANCNFSM5F4IH7EQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>. You are receiving this because you were mentioned.Message ID: ***@***.***>

[masterhui]

Not sure if I understand your question. One of the features of F-LOAM is that it doesn't require an IMU, am I wrong?

[gglaspell]

I have a gradient OS1-64, what configuration should I use?

[masterhui]

Hi @gglaspell
Check out the patch I posted above for the OS0-64. You will have to modify the values as the OS1 has different vertical opening angles.