update

.gitignore

@@ -30,3 +30,5 @@
 *.exe
 *.out
 *.app
+
+build/

.vscode/c_cpp_properties.json

@@ -8,11 +8,10 @@
                 "/usr/include/pcl-1.10",
                 "/usr/local/include/eigen3",
                 "/usr/local/include/opencv4",
-                "/opt/arrayfire/include",
-                "/home/chao/Workspace/ws/ouster_ws/devel/include",
-                "/home/chao/Workspace/ws/ouster_ws/src/ouster_example/ouster_ros/include",
-                "/home/chao/Workspace/ws/ouster_ws/src/ouster_example/ouster_client/include",
-                "/home/chao/Workspace/ws/ouster_ws/src/ouster_example/ouster_client/include/optional-lite"
+                "~/Workspace/ws/ouster_ws/devel/include",
+                "~/Workspace/ws/ouster_ws/src/ouster_example/ouster_ros/include",
+                "~/Workspace/ws/ouster_ws/src/ouster_example/ouster_client/include",
+                "~/Workspace/ws/ouster_ws/src/ouster_example/ouster_client/include/optional-lite"
             ],
             "defines": [],
             "compilerPath": "/usr/bin/g++"

src/decoder.cpp

@@ -60,8 +60,8 @@ void LidarModel::ToCameraInfo(sensor_msgs::CameraInfo& cinfo) {
   cinfo.D.insert(cinfo.D.end(), altitudes.begin(), altitudes.end());
   cinfo.D.insert(cinfo.D.end(), azimuths.begin(), azimuths.end());
 
-  cinfo.K[0] = dt_meas;    // delta time between two columns
-  cinfo.R[0] = d_azimuth;  // delta angle between two columns
+  cinfo.K[0] = dt_meas;
+  cinfo.R[0] = d_azimuth;
   cinfo.P[0] = beam_offset;
 }
 
@@ -170,11 +170,12 @@ void Decoder::Reset() {
   if (curr_scan_ * image_.cols >= model_.cols) {
     curr_scan_ = 0;
   }
-  // No need to zero out if we don't need to destagger
-  if (!destagger_) return;
-  // Otherwise we will zero out the cached data
-  image_.setTo(cv::Scalar());
-  // TODO (chao): set cloud_ to 0
+
+  if (destagger_) {
+    // Zero out cached image in destagger mode
+    image_.setTo(cv::Scalar());
+    // No need for cloud since we set invalid point to nan
+  }
 }
 
 void Decoder::Allocate(int rows, int cols) {

src/decoder.h

@@ -13,12 +13,12 @@
 namespace ouster_decoder {
 
 struct LidarData {
-  float range{};     // range in meter
-  float theta{};     // azimuth angle
-  uint16_t shift{};  // pixel shift
-  uint16_t signal{};
-  uint16_t ambient{};
-  uint16_t reflectivity{};
+  float range{};            // range in meter
+  float theta{};            // azimuth angle
+  uint16_t shift{};         // pixel shift
+  uint16_t signal{};        // signal intensity photon
+  uint16_t ambient{};       // NIR photons
+  uint16_t reflectivity{};  // calibrated reflectivity
 } __attribute__((packed));
 
 static_assert(sizeof(LidarData) == sizeof(float) * 4,
@@ -28,17 +28,16 @@ struct LidarModel {
   LidarModel() = default;
   explicit LidarModel(const ouster_ros::sensor::sensor_info& info);
 
-  int rows;
-  int cols;  // cols of a full scan
-  int freq;
-  double dt_meas;
-  double dt_packet;
-  double d_azimuth;
-  double beam_offset;
-  std::vector<double> azimuths;
-  std::vector<double> altitudes;
-  std::vector<int> pixel_shifts;
-  std::string prod_line;
+  int rows{};                     // number of beams
+  int cols{};                     // cols of a full scan
+  int freq{};                     // frequency
+  double dt_meas{};               // delta time between two columns
+  double d_azimuth{};             // delta angle between two columns
+  double beam_offset{};           // distance between beam to origin
+  std::vector<double> azimuths;   // azimuths offset angles
+  std::vector<double> altitudes;  // altitude angles, high to low
+  std::vector<int> pixel_shifts;  // offset pixel count
+  std::string prod_line;          // produnction line
 
   void ToCameraInfo(sensor_msgs::CameraInfo& cinfo);
 };