Embedded Files
ROS Message Player
ROS Message Player
Download: https://github.com/dhchung/rosmsg_player
The dataset can be streamed into ROS messages by using the rosmsg_player.
LiDAR as an image
LiDAR as an image
LiDAR point clouds can be converted into images using the ambient or intensity values of the point cloud. As the scan lines of the LiDARs were not perfectly aligned, it is necessary to add pixel offsets to each channel. You can find an example code that runs with rosmsg_player at: https://github.com/dhchung/lidar_to_image.
Radar
Radar
Radar images can be published either per cycle or per spoke update. The radar images are published per cycle by default, and updated images per spoke are published when the "Deg" checkbox is triggered.
Due to computational time, radar images with the spoke update option may be distorted if the play rate is high.
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