A010 - Pointcloud Topic Not In Meter

[David9696]

Hi,

Thanks for the great package.

From what I have tested, the published pointcloud is not following REP 103 standard (for a body; x forward, y left, z up), http://www.ros.org/reps/rep-0103.html#axis-orientation.

May I know why? Is it possible to make it follow the REP 103 standard?

Secondly, the generated pointcloud in not measured in meter. Could you make it in standard meter unit?

Thanks.

David

[devemin]

Hi

I had same issue.
Maybe you can get correct depth with meter with calculation with UNIT setting.

See this.
https://wiki.sipeed.com/hardware/en/maixsense/maixsense-a010/at_command_en.html

If UNIT is not 0，the distance between this pixel and top is p x UNIT ;
If UNIT is 0，the distance between this pixel and top is (p/5.1)^2 。

MaixSense_ROS/sipeed_tof_ms_a010_ros/ros1/src/sipeed_tof_ms_a010_node.cc

Line 177 in b754d61

*((float *)(ptr + 0)) = x;

need calculate the float data with UNIT and rotate the XYZ.

ref:
https://twitter.com/devemin/status/1689854252007735296?s=20

Thanks.

devemin