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This article contains a bunch of rosbags with measurement data of the multiScan100. Tests were carried out with different target remissions, rain intensities and rain types.
Topics
In general all echoes have been recorded. Due to the sensor setup, only the topic
/cloud_unstructured_firstEcho,
/cloud_unstructured_reflector_allEchoes
are filled with data.
NOTE
If the sensor is set up to last echo, like in the following rosbags, the sick_scan_xd driver puts the information of the LAST ECHO into the topic/cloud_unstructured_firstEcho. This can cause confusion because the sensor configuration is set to LAST ECHO.
Test targets
target
850 nm wavelength
size [mm]
remission [%]
white
84.0
600 x 600 x 3
black
14.0
600 x 600 x 3
grey
53.0
600 x 600 x 3
strong reflector (DG)
600 x 600 x 3
Raintypes
Spray
for more pictures see attachment in the right upper corner of the article
