feat: per-point timing support for PointCloud2 by jeff-hykin · Pull Request #3103 · dimensionalOS/dimos

jeff-hykin · 2026-07-20T20:40:36Z

Overdue cleanup

TLDR: PointCloud2 now supports more of PointCloud2 spec, ex: x,y,z,intensity,offset_time,tag,line and x,y,z,timestamp instead of only supportingx,y,z,intensity

needed for fastlivo
Partly fixes the pr "TODO: work with full spectrum of pointcloud2".
good for cleaning up pointlio/fastlio

Test with

dimos run mid360

…0 driver

greptile-apps · 2026-07-20T20:45:09Z

Greptile Summary

This PR adds per-point timing metadata to Livox PointCloud2 messages. The main changes are:

Publish offset_time, tag, and line fields from the Mid-360 driver.
Encode and decode these optional attributes in Python PointCloud2 messages.
Add an LCM round-trip test for timing metadata.

Confidence Score: 5/5

This looks safe to merge.

No blocking issues found in the changed code.

Important Files Changed

Filename	Overview
dimos/hardware/sensors/lidar/livox/cpp/main.cpp	Adds packed per-point timing and tag fields to the Mid-360 PointCloud2 publisher.
dimos/msgs/sensor_msgs/PointCloud2.py	Adds optional timing, tag, and line attributes to PointCloud2 encoding and decoding.
dimos/msgs/sensor_msgs/test_PointCloud2.py	Adds round-trip coverage for the new per-point metadata fields.

_{Reviews (2): Last reviewed commit: "review: vendor-neutral PointCloud2 docs/..." | Re-trigger Greptile}

…oint-timing round-trip test

…ng config (default on) Consumers that never read offset_time/tag/line no longer pay for extracting them (0.50 -> 0.35 ms/frame decode; plain layout 0.21). Mid360Config.per_point_timing=False restores the legacy 16-byte wire layout entirely.

codecov · 2026-07-20T21:07:54Z

Codecov Report

❌ Patch coverage is 95.04950% with 5 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/msgs/sensor_msgs/PointCloud2.py	93.15%	2 Missing and 3 partials ⚠️

@@            Coverage Diff             @@
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  Files        1114     1114              
  Lines      106086   106185      +99     
  Branches     9665    10223     +558     
==========================================
+ Hits        79459    79551      +92     
- Misses      23817    23822       +5     
- Partials     2810     2812       +2

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Files with missing lines	Coverage Δ
dimos/hardware/sensors/lidar/livox/module.py	`93.18% <100.00%> (+0.15%)`	⬆️
dimos/msgs/sensor_msgs/test_PointCloud2.py	`98.14% <100.00%> (+0.58%)`	⬆️
dimos/msgs/sensor_msgs/PointCloud2.py	`64.50% <93.15%> (+5.73%)`	⬆️

... and 1 file with indirect coverage changes

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jeff-hykin · 2026-07-20T21:10:13Z

+    pc.fields[3] = make_field("intensity", 12, sensor_msgs::PointField::FLOAT32);
+    if (timing) {
+        pc.fields[4] =
+            make_field("offset_time", OFFSET_TIME_OFFSET, sensor_msgs::PointField::UINT32);


ROS version of livox follows the same general pattern

…fset_time) / legacy (x,y,z,intensity) Replaces the per_point_timing bool. No LIO in the stack reads intensity (passthrough for viz only), so minimal mode carries just geometry + the per-point timing that scan undistortion needs, at the legacy 16 B/point.

…stale layout-sync comment

… drop stale wire-layout block

… LIOs need

…e wire default, full-format clouds imply a consumer that reads them

…idate sidecar array lengths in from_numpy

jeff-hykin · 2026-07-20T21:55:37Z

+//   minimal (default) x,y,z,offset_time                    — 16 B/point
+//   full              x,y,z,intensity,offset_time,tag,line — 22 B/point
+//   legacy            x,y,z,intensity                      — 16 B/point
+// offset_time is uint32 ns since the header stamp; tag/line are the Livox


main livox change: publish timing info

jeff-hykin · 2026-07-20T21:58:08Z

+        # Parse field offsets. The message is self-describing; a known field is
+        # honored only when its advertised datatype matches what we read it as,
+        # otherwise it is treated as absent rather than misread.
+        _expected_datatype = {


note: this is generic, PointField is a ROS struct, and Pointcloud2 supports all these fields

jeff-hykin requested review from leshy, mustafab0, paul-nechifor and spomichter as code owners July 20, 2026 20:40

feat: per-point timing (offset_time/tag/line) in PointCloud2 + Mid-36…

a61f4a4

…0 driver

jeff-hykin force-pushed the jeff/feat/pointcloud_timing branch from 1fa46bf to a61f4a4 Compare July 20, 2026 20:42

greptile-apps Bot reviewed Jul 20, 2026

View reviewed changes

Comment thread dimos/hardware/sensors/lidar/livox/cpp/main.cpp Outdated

Comment thread dimos/hardware/sensors/lidar/livox/cpp/main.cpp Outdated

Comment thread dimos/msgs/sensor_msgs/PointCloud2.py

review: vendor-neutral PointCloud2 docs/comments; keep only the per-p…

d9c40d6

…oint-timing round-trip test

jeff-hykin marked this pull request as draft July 20, 2026 20:47

jeff-hykin added the backport:skip Skip creating a backport to any release branches label Jul 20, 2026

jeff-hykin commented Jul 20, 2026

View reviewed changes

jeff-hykin added 5 commits July 20, 2026 14:14

review: decode honors advertised field datatypes (spec-correct); fix …

87204df

…stale layout-sync comment

review: PointFormat enum first with its layout comment (no k prefix);…

71e49a4

… drop stale wire-layout block

feat(livox): default point_format to minimal — offset_time is all the…

67134db

… LIOs need

review: cloud, not pc, in decode

afb23ce

jeff-hykin changed the title ~~feat: per-point timing (offset_time/tag/line) in PointCloud2 + Mid-360 driver~~ feat: per-point timing support for PointCloud2 Jul 20, 2026

jeff-hykin added 2 commits July 20, 2026 14:30

review: back to eager per-point field extraction — with minimal as th…

5fda723

…e wire default, full-format clouds imply a consumer that reads them

fix: greptile findings — clamp reordered-packet/overlong offsets, val…

c9e41d1

…idate sidecar array lengths in from_numpy

jeff-hykin commented Jul 20, 2026

View reviewed changes

Merge branch 'main' into jeff/feat/pointcloud_timing

8b4cc36

jeff-hykin marked this pull request as ready for review July 27, 2026 18:15

jeff-hykin requested a review from Dreamsorcerer as a code owner July 27, 2026 18:15

jeff-hykin added the PlzReview label Jul 27, 2026

github-actions Bot added the ready-to-merge Required CI checks have passed on this PR label Jul 27, 2026

jeff-hykin mentioned this pull request Jul 27, 2026

feat(fastlivo): FAST-LIVO2 odometry module #3224

Draft

leshy approved these changes Jul 27, 2026

View reviewed changes

Merge main into jeff/feat/pointcloud_timing

a3affff

github-actions Bot added ready-to-merge Required CI checks have passed on this PR and removed ready-to-merge Required CI checks have passed on this PR labels Jul 27, 2026

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feat: per-point timing support for PointCloud2 - #3103

feat: per-point timing support for PointCloud2#3103
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Confidence Score: 5/5

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