QUYVN/DriverLIdar
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix(olei): Family B angle scale is clockwise — mirror the decode

Browse Source 
The LR-1BS5's angle scale runs clockwise viewed from the top, so
decoding it as CCW mirrored the whole world left/right — undetectable
with a single lidar (the SLAM map is self-consistently mirrored and
heading-vs-motion checks pass, since a mirror about x preserves
'ahead'). It surfaced when a second, right-handed lidar disagreed
(doubled walls), and the finished map came out mirrored versus the
actual room.

device_deg() now negates the raw angle BEFORE the model's 0°-reference
offset (LR-1BS5: out = 180 − raw), driven by model_angles_clockwise().
Evidence: field-verified on OLELR-1BS5 (2026-07-23), and DF Automation's
production ROS driver (github.com/dfautomation/ole2d, decoder.cpp)
walks the device array backwards with the comment 'reverse, laserscan
is anticlockwise' — its packet layout is exactly our Family B, so
LR-1FMI (same protocol) is listed too. Family A/C stay CCW until a
unit is verified against a real room.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
Trương Văn Lộc
2026-07-23 11:17:08 +07:00
parent 553b07147b
commit 4aa110cde1
2 changed files with 43 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
plugins/driver_olei/olei_driver.hpp
View File

@@ -13,7 +13,7 @@ inline constexpr ModelConfig MODEL_VB { "VB", -135.f, 135.f, 0.05f, 30.
inline constexpr ModelConfig MODEL_VF { "VF", -180.f, 180.f, 0.05f, 30.f }; // 2D 360°
inline constexpr ModelConfig MODEL_LR1F { "LR-1F", -180.f, 180.f, 0.05f, 50.f, 180.f }; // 2D 360° 50m; device 0° = rear
inline constexpr ModelConfig MODEL_LR1FMI { "LR-1FMI", -180.f, 180.f, 0.05f, 30.f, 180.f }; // 2D 360° (Family B); device 0° = rear
inline constexpr ModelConfig MODEL_LR1BS5 { "LR-1BS5", -180.f, 180.f, 0.05f, 30.f, 180.f }; // 2D 360° (Family B); device 0° = rear (field-verified on OLELR-1BS5: with offset 0 the SLAM heading came out 180° from the direction of travel)
inline constexpr ModelConfig MODEL_LR1BS5 { "LR-1BS5", -180.f, 180.f, 0.05f, 30.f, 180.f }; // 2D 360° (Family B); device 0° = rear AND the angle scale runs CLOCKWISE — the driver mirrors it (out = 180 − raw, see model_angles_clockwise). Field-verified on OLELR-1BS5: offset 0 flipped the SLAM heading, rotation-only 180 then left-right mirrored the whole map.
inline constexpr ModelConfig MODEL_LR16F { "LR-16F", -135.f, 135.f, 0.05f, 30.f }; // 3D 16 line
inline constexpr ModelConfig MODEL_GS15 { "GS1-5", -180.f, 180.f, 0.05f, 30.f }; // 2D 360° (Family C/V3)
inline constexpr ModelConfig MODEL_AUTO { "AUTO", -180.f, 180.f, 0.05f, 30.f };
@@ -54,11 +54,18 @@ private:
void push_point(float signed_angle_deg, float dist_m, uint8_t intensity);
void flush_scan();
// Raw device angle -> our CCW convention (negated for clockwise-scale
// models, then the model's 0°-reference offset).
float device_deg(float raw_deg) const;
ModelConfig cfg_;
std::string ip_;
uint16_t port_;
bool inverted_ = false;
// Model's angle scale runs clockwise (e.g. LR-1BS5): device_deg() negates
// the raw angle so the output is right-handed. Set from the preset in the
// ctor and again when AUTO locks onto a detected model.
bool model_mirror_ = false;
int sock_fd_ = -1;
ScanCallback cb_;