LIDAR point to laser ring number association


I think it would be useful to have the association of the point to the laser number (layer/32 individ. lasers).

Do you think it is possible that you will have it in the future :slight_smile:

I am facing the same problem, I translated \ rotated the point cloud to it’s original FOR, but no clue why it is not giving me the spherical angles that may be used as IDX for ring layers

Take a look at this:

We have the ring index, but drop it by default.

Thanks Holger, but don’t you have any missing points(dis=0,intensity=0), in other words an attenuated signal?

Unfortunately we do. So in that case you may have to use some heuristics to retrieve it.

can you illustrate more please?, what do you do?

Sorry, I didn’t get a message upon your response.
By “we do” I mean that there are missing points which are discarded as they are not in a reasonable range (not sure how the driver internally works).