[horizon点云数量问题]SDK与Viewer采集到的点云数量不一致问题 #150

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2021-09-30T04:07:05+02:00

goodtimechen commented

2021-09-30 04:07:05 +02:00

(Migrated from github.com)

按照产品说明描述，horizon的采集数据是240,000点/秒，从viewer软件获取的数据来看，在0.1s采样频率下是24,000点，即与240,000点/秒相匹配。但是在SDK的采集数据下，每执行一次点云写入lvx_file_handler.SaveFrameToLvxFile(point_packet_list_temp)函数(即0.05s采样频率)，规定为0.05s采样频率下采集数据包为135个，根据SDK协议来看，horizon的一个包包含96个点云数据，也就是0.1s采样到了135962=25920点，1s是259,200个点，多出了将近20000个点。但是将sdk储存出来的LVX文件用Viewer读取，依旧是每0.1s下24,000点。所以我想知道为什么SDK中采集到的点云数据比正常的240,000点/秒多？请问有人知道这是什么原因吗？
In English:
According to the product description, the data collected by horizon is 240,000 points/second, and the data obtained from the viewer software is 24,000 points at 0.1s sampling frequency, i.e. it matches with 240,000 points/second. But under the SDK's collected data, every time the execution of the point cloud saving function "lvx_file_handler.SaveFrameToLvxFile(point_packet_list_temp)" (i.e. 0.05s sampling frequency) is specified as 135 packets collected under 0.05s sampling frequency, according to the SDK protocol, a packet of horizon contains 96 point cloud data, that is, 0.1s sampling to 135962 = 25920 points, 1s is 259,200 points, nearly 20,000 more points. But the LVX file stored in the SDK is still read by Viewer, and it is still 24,000 points per 0.1s. So I would like to know why the point cloud data collected in the SDK is more than the normal 240,000 points/second? Does anyone know what is the reason for this, please?

按照产品说明描述，horizon的采集数据是240,000点/秒，从viewer软件获取的数据来看，在0.1s采样频率下是24,000点，即与240,000点/秒相匹配。但是在SDK的采集数据下，每执行一次点云写入lvx_file_handler.SaveFrameToLvxFile(point_packet_list_temp)函数(即0.05s采样频率)，规定为0.05s采样频率下采集数据包为135个，根据SDK协议来看，horizon的一个包包含96个点云数据，也就是0.1s采样到了135*96*2=25920点，1s是259,200个点，多出了将近20000个点。但是将sdk储存出来的LVX文件用Viewer读取，依旧是每0.1s下24,000点。所以我想知道为什么SDK中采集到的点云数据比正常的240,000点/秒多？请问有人知道这是什么原因吗？ In English: According to the product description, the data collected by horizon is 240,000 points/second, and the data obtained from the viewer software is 24,000 points at 0.1s sampling frequency, i.e. it matches with 240,000 points/second. But under the SDK's collected data, every time the execution of the point cloud saving function "lvx_file_handler.SaveFrameToLvxFile(point_packet_list_temp)" (i.e. 0.05s sampling frequency) is specified as 135 packets collected under 0.05s sampling frequency, according to the SDK protocol, a packet of horizon contains 96 point cloud data, that is, 0.1s sampling to 135*96*2 = 25920 points, 1s is 259,200 points, nearly 20,000 more points. But the LVX file stored in the SDK is still read by Viewer, and it is still 24,000 points per 0.1s. So I would like to know why the point cloud data collected in the SDK is more than the normal 240,000 points/second? Does anyone know what is the reason for this, please?

Livox-SDK commented

2021-10-08 16:03:17 +02:00

(Migrated from github.com)

您好 @goodtimechen,

lvx_file_handler.SaveFrameToLvxFile(point_packet_list_temp)` 函数(即0.05s采样频率)，规定为0.05s采样频率下采集数据包为135个

0.05 s 采样频率是按照系统时间进行计算，因此每个采样周期内并不一定是严格的 135个点云数据包，可能会存在浮动偏差。

您好 @goodtimechen, > lvx_file_handler.SaveFrameToLvxFile(point_packet_list_temp)` 函数(即0.05s采样频率)，规定为0.05s采样频率下采集数据包为135个 0.05 s 采样频率是按照系统时间进行计算，因此每个采样周期内并不一定是严格的 135个点云数据包，可能会存在浮动偏差。

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Reference: mmr/Livox-SDK#150