激光雷达点云格式对比与转换，速腾、Velodyne、Ouster

用途

用于不同开源代码的传感器接入

---

1、速腾聚创

2021年左右的RS-LIDAR系列，对应的老版本ROS包

struct MyPointType
{
  PCL_ADD_POINT4D;
  float intensity;
  uint16_t ring = 0;
  double timestamp = 0;
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

POINT_CLOUD_REGISTER_POINT_STRUCT(MyPointType,    //注册点类型宏
    (float ,x,x)
    (float ,y,y)
    (float ,z,z)
    (float ,intensity,intensity)
    (uint16_t ,ring,ring)
    (double ,timestamp,timestamp)
)

现在的RS-HELIOS系列，新版本ROS包。和上面的只差了反射率的数据格式，uint8_t

namespace rslidar_ros
{
  struct EIGEN_ALIGN16 Point
  {
    PCL_ADD_POINT4D;
    uint8_t intensity;
    uint16_t ring = 0;
    double timestamp = 0;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
} 
POINT_CLOUD_REGISTER_POINT_STRUCT(rslidar_ros::Point,
                                  (float, x, x)(float, y, y)(float, z, z)(uint8_t , intensity, intensity)(uint16_t, ring, ring)(double, timestamp, timestamp))

2、velodyne

我了解到的格式如下，不清楚对应的ROS版本

struct VelodynePointXYZIRT {
    PCL_ADD_POINT4D
    PCL_ADD_INTENSITY;
    uint16_t ring;
    float time;

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

POINT_CLOUD_REGISTER_POINT_STRUCT (VelodynePointXYZIRT,
                                   (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)
                                           (uint16_t, ring, ring)(float, time, time)
)

namespace velodyne_ros
{
  struct EIGEN_ALIGN16 Point
  {
    PCL_ADD_POINT4D;
    float intensity;
    float time;
    uint16_t ring;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
} // namespace velodyne_ros
POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_ros::Point,
                                  (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(float, time, time)(std::uint16_t, ring, ring))

3、Ouster

namespace ouster_ros
{
  struct EIGEN_ALIGN16 Point
  {
    PCL_ADD_POINT4D;
    float intensity;
    uint32_t t;
    uint16_t reflectivity;
    uint8_t ring;
    uint16_t ambient;
    uint32_t range;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
} // namespace ouster_ros

// clang-format off
POINT_CLOUD_REGISTER_POINT_STRUCT(ouster_ros::Point,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, intensity, intensity)
    // use std::uint32_t to avoid conflicting with pcl::uint32_t
    (std::uint32_t, t, t)
    (std::uint16_t, reflectivity, reflectivity)
    (std::uint8_t, ring, ring)
    (std::uint16_t, ambient, ambient)
    (std::uint32_t, range, range)
)

参考

自定义速腾激光雷达点云XYZIRT格式并调用PCL库进行滤波-CSDN博客

HViktorTsoi/rs_to_velodyne: A ros tool for converting Robosense pointcloud to Velodyne pointcloud format. (github.com)