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bmegli / xv11lidar-test

Test for XV11 lidar (character/raw binary synchronized output)
GNU General Public License v3.0
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Revo LDS geometry inorrect #8

Closed gaborszita closed 5 years ago

gaborszita commented 6 years ago

Hi!

I was working on the lidar geometry correction, I followed your formula on the Image,but it didn't work for me. I found out 180 - 82 + angle isn't correct. It should be: 180 - (82 + angle)

Gabor Szita

bmegli commented 6 years ago

Hi @gaborszita!

The formula and image come directly from:

But yes, you are correct that you have to play with the signs to get it right for your case. It also depends how you see the axes (which is X, which is Y with respect to lidar).

Generally you can test with raw data here: https://github.com/bmegli/xv11lidar-test/blob/master/xv11plot.ods (the Y axis there is along longer dimension of lidar, different from the image)

See also similiar issue https://github.com/bmegli/ev3dev-mapping/issues/4

gaborszita commented 5 years ago

Thanks, bmegli. Sorry for the long reply, I didn't visited github for a long time.

Gabor Szita