Ouster pointcloud distortion and not accurate at short distance.

fakhrulzakuan

Hi,

I'm currently using OS1-64, and already updated to the latest firmware v1.12. I noticed that the poinctloud is not accurate at short distances and the pointcloud looks distorted. However the distortion and the error decreases as the distance increases. I know that in v1.12 change log, it already mentioned about the range bias correction but i think the issue is still there.

Also I'm confused about the configuration file. In the page https://www.ouster.io/downloads, there is a sample configuration file consisting of beam_altitude_angle and beam_azimuth_angle values. However the internal configuration values from my ouster is different from the sample configuration as I checked using $nc os1-xxxxx get_beam_intrinsic.

Which configuration file should I use?

Thank you.

Mohit

Hi @fakhrulzakuan
The sample config file is provided only for the sample .pcap file in 1024x10 mode.
A calibration file is essential to correctly interpret sensor data and the calibration data depends on the type of sensor as well as the operating mode (e.g. the number of firings and the scan frequency). Each sensor requires unique measurement corrections for the best accuracy. Refer to the Ouster Studio User Guide here for more information.

fakhrulzakuan

Hi Mohit,

Thank you for your reply.

So if I'm using the ROS driver, there is no need to configure the configuration file as the driver already automatically retrieve the calibration file from the sensor. Am I right?

Also regarding the accuracy issue, is there any new firmware coming up?
I'm happy to share some of the data and show you the issue that we are concerned about.

Thank you.