Lidar scanner

san

Hi everyone,
I am a young architect, even though I am not a developer,
I was been able to use 360 ​​degree livox scans, following this:
https://github.com/Livox-SDK/livox_scanner
Now I would like to edit the source and save the point clouds and perform a single full scan.

Because the lidar now scans back and forth many times.
Can you help me understand the code in this file

https://github.com/Livox-SDK/livox_scanner/blob/master/scanner_publisher/src/pointcloud_publisher.cpp
I'd like to:
1 - enter the number of revolution of the servo (how many time it makes back and forth)

2- save point cloud file with timestamp.

Thanks in advance

Fred

Hey,This is Fred.great thanks for your interest in livox. I do not have solution for these problems, but i can give you some suggestions on these two question, hope that could help you
First, You can add one rotation to the control condition of speed change as the criterion.

" If (glb_angle>177+setting_angle/2)
      target_rpm=-setting_speed;
  If(glb_angle<183 -setting_angle/2)
      target_rpm=setting_speed;            "
or you can add an angle control loop and use PID control to stop the device at a certain angle, this method could have a higher accuracy.

As for the second problem, We can get Lidar timestamp from Lidar data. Save the pointcloud via this time.

msg.header.frane_id="livox_frame";
msg.header.stamp.sec=cloud_msg - >header.stamp.sec;
msg.header.stamp.nsec=cloud_msg->header.stamp.nsec;

Hope these could help you!

san

thank you sir I will try it