Elevation angles do not match the HDL 64 E manual
geoeo opened this issue · comments
In order to calculate the scanline Id one has to use the "algorithm":
- omega = asin(Z/norm(P))
- Lookup omega in the UserManual which gives the angle increments for each laser sensor
However when I apply step 1 to the points generated from this python project I get omega values which are outside of the manufacturer supplied threshold of +2 to -24.8 degrees.
This leads me to believe there is a bug when reading the binary velodyne data.
Can anybody confirm or deny this?
Best,
Marc
Seems to be a problem with Kitti / HDL 64 E producing noisy scans
- Check Taeyoung96@a77c6df for finding the ring in a angle based approach
- Check VincentCheungM/Run_based_segmentation#3 (comment) for finding the ring in a non-angle based approach