Trace invalid LiDAR coordinates through PCL cleanup, verify the is_dense flag, preserve point indices and test the actual finite-value filtering path.
Tag: PointCloud2
LiDAR PointCloud2 Looks Corrupt in a Custom Decoder: Check Field Offsets and Row Strides
A practical workflow for diagnosing custom PointCloud2 decoders using preserved bytes, explicit field dictionaries and bounded comparisons.
PointCloud-to-LaserScan Returns Only Infinity: A Projection Diagnostic
Trace the first projection stage that rejects a known target. Distinguish no messages, empty scan bins, and downstream rejection before replacing a working LiDAR.
LiDAR Driver Updates: A Regression Checklist for Point Fields and Timestamp Semantics
Check message contracts before deploying a LiDAR driver revision. Preserve baseline evidence, compare field and time semantics, and validate consumers on fixed inputs.
Nav2 Point Clouds Arrive but No Obstacles Appear: Trace the Observation Pipeline
A boundary-by-boundary diagnostic for a valid PointCloud2 that never produces Nav2 occupied cells, with a stationary target test and evidence worksheet.
FAST-LIO Timestamp Units: Diagnose Motion Smear Before Recalibrating
A practical field-contract worksheet and repeat-test procedure for diagnosing FAST-LIO motion smear caused by incorrect point-time interpretation.
LiDAR Data Format Guide: LaserScan, PointCloud2 and Object Outputs
LiDAR data format practical guide with field checks, setup decisions and LidarStar sensor-selection notes.
