Possible Fix for Ring Calculation in RS128-Channel Point Clouds

[runjtu]

Hi, Author

I recently encountered a potential issue in the code when handling 128-channel point clouds. Specifically, in the following code snippet:

else if (pc->height == 128) {
    new_point.ring = RING_ID_MAP_RUBY[point_id % pc->height];
}

From my testing, this calculation causes the ring value to always be set to 0 when converting from RS to Velodyne. I believe the following modification might work better:

else if (pc->height == 128) {
    new_point.ring = RING_ID_MAP_RUBY[point_id / pc->width];
}

This change resolved the issue on my dataset. However, since I've only tested it in my specific scenario, I'm suggesting it as a possible fix or an alternative approach. I hope this might be helpful! Thank you for your consideration.