Elevation angles do not match the HDL 64 E manual

[geoeo]

In order to calculate the scanline Id one has to use the "algorithm":

1. omega = asin(Z/norm(P))
2. 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

[geoeo]

Seems to be a problem with Kitti / HDL 64 E producing noisy scans

[mr-abramenko]

• Check Taeyoung96@a77c6df for finding the ring in a angle based approach
• Check Kitti data does not have scanline information VincentCheungM/Run_based_segmentation#3 (comment) for finding the ring in a non-angle based approach