How to transform point cloud data from LiDAR to x, y, z coordinates

asked 2021-08-06 18:41:34 -0500

SankalpSharma94251 gravatar image

In a simulation of a city called citysim when I am spawning a Velodyne LiDAR sensor and generating pointcloud data, the data appears to be a bit weird. It is not in form of x, y, z coordinates. It looks like this, Data: [137, 237, 233, 191, 188, 185, 162, 182, 6, 185, 250, 190, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 166, 7, 192, 115, 184, 188, 182, 5, 137, 250, 190, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 148, 240, 32, 192, 28, 232, 223, 182, 141, 68, 250, 190, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 177, 89, 68, 192, 244, 149, 8, 183, 85, 202, 248, 190, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0, 57, 215, 125, 192, 205, 147, 48, 183, 101, 87, 249, 190, 0, 0, 0, 0, 4, 0, 0, 0, 0, 0, 202, 61, 178, 192, 59, 250, 119, 183, 85, 129, 249, 190, 0, 0, 0, 0, 5, 0, 0, 0, 0, 0, 62, 243, 20, 193, 233, 57, 207, 183, 221, 203, 249, 190, 0, 0, 0, 0, 6, 0, 0, 0, 0, 0, 145, 86, 246, 193, 192, 91, 171, 184, 78, 152, 9, 191, 0, 0, 0, 0, 7, 0, 0, 0, 0, 0] Complete data can be viewed here https://docs.google.com/document/d/1L... Am I doing something wrong or this should be like this only and after doing some transformations the correct format can be achieved? When I am ploting it in Rviz the visualization appears to be alright.

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