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lakshmanmallidi / PyLidar3

PyLidar3 is python 3 package to get data from Lidar devices from various manufacturers.
MIT License
48 stars 31 forks source link

Error in _Calculate function #4

Closed BL451 closed 3 years ago

BL451 commented 4 years ago

_Calculate function returns very noisy values since it's not ignoring zero distance values. This can be resolved by simply checking dist_i once calculated and continuing to next iteration if it's equal to 0. Additionally, there seem to be some small problems with the math in comparison to how it's shown in the YDLidar developer docs (2019 version specifically, was different in 2018 version which looks like the one you were following).

I made these changes on my fork and the values cleaned up quite nicely, now looks the same as running the Point Cloud Viewer from the manufacturer.

hazrulrosdi95 commented 4 years ago

_Calculate function returns very noisy values since it's not ignoring zero distance values. This can be resolved by simply checking dist_i once calculated and continuing to next iteration if it's equal to 0. Additionally, there seem to be some small problems with the math in comparison to how it's shown in the YDLidar developer docs (2019 version specifically, was different in 2018 version which looks like the one you were following).

I made these changes on my fork and the values cleaned up quite nicely, now looks the same as running the Point Cloud Viewer from the manufacturer.

Hye Benjamin, do you know how to add the angle information for each of the detected point similar to the PointCloudViewer_V6R01 provided by the YDLidar developer? PointCloudViewer_V6R01

lakshmanmallidi commented 3 years ago

Thank you, sorry for the delay in merging. I have merged you request.