Why 2D LIDAR data provide more information in vertical axis than 3D LIDAR?

ori-mrg / robotcar-dataset-sdk

Software Development Kit for the Oxford Robotcar Dataset

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Why 2D LIDAR data provide more information in vertical axis than 3D LIDAR? #47

Open mzy97 opened 2 years ago

mzy97 commented 2 years ago

In the dataset page, it said, LIDAR: 2 x SICK LMS-151 2D LIDAR, 270° FoV, 50Hz, 50m range, 0.5° resolution 1 x SICK LD-MRS 3D LIDAR, 85° HFoV, 3.2° VFoV, 4 planes, 12.5Hz, 50m range, 0.125° resolution

when I run the build_point cloud script with same parameter using /lms_front and /ldmrs laser scan folder, I find 2D LIDAR data provide more information in vertical axis than 3D LIDAR, it looks like below, first pic is /lms_front result and second pic is /ldmrs result.

LZL-CS commented 2 years ago

Hi, I got the same problem as you. Do you try it with Python or Matlab code?