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fix(lidar): change point cloud format from PointXYZIRCEADT to PointXYZIRCAEDT #357

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Sep 11, 2024
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fix(lidar): change point cloud format from PointXYZIRCEADT to PointXYZIRCAEDT #357

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8 changes: 4 additions & 4 deletions Assets/AWSIM/Scripts/Sensors/LiDAR/PointCloudFormatLibrary.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ public enum PointCloudFormat : UInt32
{
Pcl24,
Pcl48,
PointXYZIRCEADT,
PointXYZIRCAEDT,
MLInstanceSegmentation,
RadarSmartMicro,
Custom,
Expand Down Expand Up @@ -61,15 +61,15 @@ public static class PointCloudFormatLibrary
RGLField.PADDING_32,
RGLField.TIME_STAMP_F64
}},
// PointXYZIRCEADT format used by Autoware
{PointCloudFormat.PointXYZIRCEADT, new[]
// PointXYZIRCAEDT format used by Autoware
{PointCloudFormat.PointXYZIRCAEDT, new[]
{
RGLField.XYZ_VEC3_F32,
RGLField.INTENSITY_U8,
RGLField.RETURN_TYPE_U8,
RGLField.RING_ID_U16,
RGLField.ELEVATION_F32,
RGLField.AZIMUTH_F32,
RGLField.ELEVATION_F32,
RGLField.DISTANCE_F32,
RGLField.TIME_STAMP_U32
}},
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2 changes: 1 addition & 1 deletion Assets/AWSIM/Scripts/Sensors/LiDAR/RglLidarPublisher.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -151,7 +151,7 @@ public class RglLidarPublisher : MonoBehaviour
{
topic = "lidar/pointcloud_ex",
publish = true,
fieldsPreset = PointCloudFormat.PointXYZIRCEADT,
fieldsPreset = PointCloudFormat.PointXYZIRCAEDT,
},
};

Expand Down
8 changes: 4 additions & 4 deletions docs/Components/Sensors/LiDARSensor/LiDARSensor/index.md
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Expand Up @@ -165,14 +165,14 @@ Currently, `RglLidarPublisher` implements ROS2 publishers for two message types:
| Preset | Description | Fields |
| :--------: | :--------------------- | :---------------------------------- |
| Pcl 24 | 24-byte point cloud format used by *Autoware* | XYZ_VEC3_F32, PADDING_32, INTENSITY_F32, RING_ID_U16, PADDING_16 |
| PointXYZIRCEADT | PointXYZIRCEADT format used by *Autoware* | XYZ_VEC3_F32, INTENSITY_U8, RETURN_TYPE_U8, RING_ID_U16, ELEVATION_F32, AZIMUTH_F32, DISTANCE_F32, TIME_STAMP_U32 |
| PointXYZIRCAEDT | PointXYZIRCAEDT format used by *Autoware* | XYZ_VEC3_F32, INTENSITY_U8, RETURN_TYPE_U8, RING_ID_U16, AZIMUTH_F32, ELEVATION_F32, DISTANCE_F32, TIME_STAMP_U32 |
| Pcl 48 | 48-byte extended version point cloud format used by *Autoware* (legacy) | XYZ_VEC3_F32, PADDING_32, INTENSITY_F32, RING_ID_U16, PADDING_16, AZIMUTH_F32, DISTANCE_F32, RETURN_TYPE_U8, PADDING_8, PADDING_16, PADDING_32, TIME_STAMP_F64 |
| ML Instance Segmentation | Machine learning format for instance/semantic segmentation tasks | XYZ_VEC3_F32, ENTITY_ID_I32, INTENSITY_F32 |
| Radar Smart Micro | Format used in Radar Smart Micro | XYZ_VEC3_F32, RADIAL_SPEED_F32, POWER_F32, RCS_F32, NOISE_F32, SNR_F32 |
| Custom | Empty format that allows the user to define its fieldsets | |

!!! note "*PointXYZIRCEADT* format"
For a better understanding of the *PointXYZIRCEADT* format, we encourage you to familiarize yourself with the point cloud pre-processing process in *Autoware*, which is described [here](https://autowarefoundation.github.io/autoware-documentation/latest/design/autoware-architecture/sensing/data-types/point-cloud/#point-cloud-fields).
!!! note "*PointXYZIRCAEDT* format"
For a better understanding of the *PointXYZIRCAEDT* format, we encourage you to familiarize yourself with the point cloud pre-processing process in *Autoware*, which is described [here](https://autowarefoundation.github.io/autoware-documentation/latest/design/autoware-architecture/sensing/data-types/point-cloud/#point-cloud-fields).

#### Elements configurable from the editor level
- `Frame ID` - frame in which data are published, used in [`Header`](https://docs.ros2.org/latest/api/std_msgs/msg/Header.html) (default: `"world"`)
Expand Down Expand Up @@ -200,7 +200,7 @@ Currently, `RglLidarPublisher` implements ROS2 publishers for two message types:
| Category | Topic | Message type | `frame_id` |
| :-----------------------: | :--------------------- | :--------------------------------------- | :--------: |
| PointCloud 24-byte format | `/lidar/pointcloud` | [`sensor_msgs/PointCloud2`][pointcloud2] | `world` |
| PointXYZIRCEADT format | `/lidar/pointcloud_ex` | [`sensor_msgs/PointCloud2`][pointcloud2] | `world` |
| PointXYZIRCAEDT format | `/lidar/pointcloud_ex` | [`sensor_msgs/PointCloud2`][pointcloud2] | `world` |

## Point Cloud Visualization (script)
![script_visualization](script_visualization.png)
Expand Down
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