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valgur / velodyne_decoder

Fully-featured C++/Python Velodyne packet decoder
BSD 3-Clause "New" or "Revised" License
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Feature Request: Reading Raw Azimuth Angle, Laser ID, Distance, and Timestamp #13

Closed Crear12 closed 5 months ago

Crear12 commented 1 year ago

Hi Martin, Recently we see increasing research with brilliant ideas of using the raw spherical coordinate system data without translating to the cartesian coordinate system. I'm wondering if it's possible to allow passing a parameter to the vd.read_pcap function like: vd.read_pcap(pcap_file_name, config, spherical_coordinate_system=True) to directly return the spherical coordinates like azimuth angle, laser Id, distance? This would save us tons of efforts in reproducing the methodologies proposed in those papers.

Thanks in advance, Crear

valgur commented 5 months ago

Sorry, the effort and added complexity would not be worth the very minor gains in efficiency and convenience provided by such a feature. It's trivial to transform the decoded points into a spherical coordinate system after decoding.