Added logic to handle "ring" field for velodyne lidars #452
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Hi @VineetTambe , thank you very much for submitting this PR! Just a tiny little thing: Would you mind fixing the whitespace errors? |
Hey @grischi, I have resolved the whitespacing issue. Please let me know if there are any other changes. |
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Thank you soo much for your work!! It saved me. I am trying to feed KITTI360 into LIOSAM and the ROS2 bag converter I used is under KITTI format which doesn't have ring info |
This was referenced Jul 23, 2024
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In the context to this issue - I have added logic to calculate the "ring" value based on the N_SCANS field and have tested the code out on Velodyne 16.
In addition, I have tried to keep the changes such that it does not affect results for ouster or other lidars but still can be extended easily to other lidars by setting
ringFlag = 2Please let me know if you have any feedback and need me to update the PR.