From 76976111d874c3b30ec409f60df62345598e03c9 Mon Sep 17 00:00:00 2001 From: Ussama Naal Date: Tue, 31 Oct 2023 15:51:49 -0700 Subject: [PATCH] Formatting + documentation --- ouster-ros/config/driver_params.yaml | 34 ++++++++++++------------ ouster-ros/include/ouster_ros/os_point.h | 2 +- ouster-ros/src/point_cloud_compose.h | 4 +-- 3 files changed, 20 insertions(+), 20 deletions(-) diff --git a/ouster-ros/config/driver_params.yaml b/ouster-ros/config/driver_params.yaml index 294f37ef..211f41f1 100644 --- a/ouster-ros/config/driver_params.yaml +++ b/ouster-ros/config/driver_params.yaml @@ -67,21 +67,21 @@ ouster/os_driver: # data QoS. This is preferrable for production but default QoS is needed for # rosbag. See: https://github.com/ros2/rosbag2/issues/125 use_system_default_qos: false - # point_type[optional]: choose from: {original, native, xyz, xyzi, xyzir} - # Here is a breif description of each option: - # - original: ouster_ros::Point - # - native: directly maps all fields as published by the sensor to an - # equivalent point cloud representation with the additon of ring - # and timestamp fields. - # - xyz: the simplest point type, only has {x, y, z} - # - xyzi: same as xyz point type but adds intensity (signal) field. this - # type is not compatible with the low data profile. - # - xyzir: same as xyzi type but adds ring (channel) field. - # this type is same as Velodyne point cloud type - # this type is not compatible with the low data profile. - # for more details about the fields of each point type and their data refer - # to the following header files: - # - ouster_ros/os_point.h - # - ouster_ros/sensor_point_types.h - # - ouster_ros/common_point_types.h. + # point_type[optional]: choose from: {original, native, xyz, xyzi, xyzir} + # Here is a breif description of each option: + # - original: ouster_ros::Point + # - native: directly maps all fields as published by the sensor to an + # equivalent point cloud representation with the additon of ring + # and timestamp fields. + # - xyz: the simplest point type, only has {x, y, z} + # - xyzi: same as xyz point type but adds intensity (signal) field. this + # type is not compatible with the low data profile. + # - xyzir: same as xyzi type but adds ring (channel) field. + # this type is same as Velodyne point cloud type + # this type is not compatible with the low data profile. + # for more details about the fields of each point type and their data refer + # to the following header files: + # - ouster_ros/os_point.h + # - ouster_ros/sensor_point_types.h + # - ouster_ros/common_point_types.h. point_type: original \ No newline at end of file diff --git a/ouster-ros/include/ouster_ros/os_point.h b/ouster-ros/include/ouster_ros/os_point.h index 6d07e35c..e319220d 100644 --- a/ouster-ros/include/ouster_ros/os_point.h +++ b/ouster-ros/include/ouster_ros/os_point.h @@ -21,7 +21,7 @@ namespace ouster_ros { // active udp lidar profile. struct EIGEN_ALIGN16 _Point { PCL_ADD_POINT4D; - float intensity; // equivalent signal + float intensity; // equivalent to signal uint32_t t; uint16_t reflectivity; uint16_t ring; // equivalent to channel diff --git a/ouster-ros/src/point_cloud_compose.h b/ouster-ros/src/point_cloud_compose.h index cd78e687..9183cf11 100644 --- a/ouster-ros/src/point_cloud_compose.h +++ b/ouster-ros/src/point_cloud_compose.h @@ -94,8 +94,8 @@ constexpr auto make_lidar_scan_tuple(const ouster::LidarScan& ls) { /** * @brief copies field values from LidarScan fields combined as a tuple into the * the corresponding elements of the input point pt. - * @param[in,out] pt - * @param[in] tp + * @param[out] pt point to copy values into. + * @param[in] tp tuple containing arrays to copy LidarScan field values from. * @param[in] idx index of the point to be copied. * @remark this method is to be used mainly with sensor native point types. */