General config params of PandarXT-16 about hesailidar_general_ros HOT 4 OPEN

Hello, I also have some questions to ask. Can I run lio-sam on this PandarXT-16? If it works, can you tell me which parameters need to be modified? Because I know that lio-sam needs point cloud data of "XYZIRT" type, but I'm not sure whether this Lidar has point cloud data of this format and whether the problem you mentioned has been solved? Thank you very much.

from hesailidar_general_ros.

1. they mean the structure of the output point cloud, mixed means a 1xN point array contains all points in a frame, structured means a 16xN point array(for XT16), each row contains points from a same channel.
2. they are different correction method and will not influence each other. "coordinate_correction_flag" when set to 1, the calculation will need to take more CPU resoureces, we suggest to only set it to 1 when you have very enough processor resources.

from hesailidar_general_ros.

Hello, I also have some questions to ask. Can I run lio-sam on this PandarXT-16? If it works, can you tell me which parameters need to be modified? Because I know that lio-sam needs point cloud data of "XYZIRT" type, but I'm not sure whether this Lidar has point cloud data of this format and whether the problem you mentioned has been solved? Thank you very much.

We are not so familiar with lio-sam, but the required X, Y, Z, I, R, T information are all supported by the lidar and ROS driver.

from hesailidar_general_ros.

Thanks a lot. May I ask how to change to outputting point clouds in XYZIR format？

from hesailidar_general_ros.