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 | 1 | initial version |
By "layer" I suppose you mean the points associated with each of the 32 individual lasers.
The velodyne_pointcloud package reports the source of each point as a "ring number", using a sequential numbering of the lasers from 0 (lowest) to 31 (highest). For details, see my answer to this question.
| | 2 | No.2 Revision |
By "layer" I suppose you mean the points associated with each of the 32 individual lasers.
The velodyne_pointcloud package reports the source of each point as a "ring number", using a sequential numbering of the lasers from 0 (lowest) to 31 (highest). For details, see my answer to this question.
EDIT: The velodyne_pointcloud package provides several nodes and nodelets for transforming raw data packets into a point cloud containing PointXYZRI with X, Y, Z, ring number, and intensity.
There is also a simple class which reads the point cloud and colors the points according to ring number, useful for visualization. Its message callback shows how to read the data and access the ring number of each point.
| | 3 | No.3 Revision |
By "layer" I suppose you mean the points associated with each of the 32 individual lasers.
The velodyne_pointcloud package reports the source of each point as a "ring number", using a sequential numbering of the lasers from 0 (lowest) to 31 (highest). For details, see my answer to this question.
EDIT: The velodyne_pointcloud package provides several nodes and nodelets for transforming raw data packets into a point cloud containing PointXYZRI with X, Y, Z, ring number, and intensity.
There is also a simple class which reads the point cloud and colors the points according to ring number, useful for visualization. Its message callback shows how to read the data and access the ring number of each point.
EDIT2: You can transform the point cloud for a single revolution into an organized 32xN cloud based on ring number, if you want. But, I don't see much advantage to doing that if the device is moving and the points are being transformed into the odom frame of reference.
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