![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg9wOa3HIzg9EGUHSkg5lvCwGmkbq1XjLjecaiqSbbX2CoiL_qL4lnDeojKQfotrV3ev7JznMnUongFvTqllRlc2CAp9QYyBR_fQvx2gsU2RT6Un5MTnUp4Bel7Hj-cJ7YDrfh4/s400/monterey2.png)
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg-LuRsb4l8UVjoIovWRl7xNzo84CM_SQbFUGh5aQKa1gRWWSayM9A87k1YibL2d03ZHVq_gboPn9GC-VDRhV1xHlBbcO3ygpQ7VFJ73AaN6a5c5vl29oIgHFqdpO7PcNJrq8PO/s400/monterey.png)
There's something wrong with how I'm viewing the data, the streaks indicate every revolution of the lidar results in an angular drift- maybe I'm re-adding a rotational offset and allowing it to accumulate?
No, it turned out to be a combination of things- applying the wrong calibration data (essentially flopping the lower and upper laser blocks). Now it's starting to look pretty good, though there is a lot of blurriness because the environment is changing over time- that's a car pulling out into an intersection.
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi905U8aHP8FbJY9Dmkbtg8KYieee-MyJFkM3wELuqJpmin9kL-xVuJT2uvbkrMFBmNeXxQP2_RRab_i0Leemlyi8NSJctAnHzYOOnZ0FkoWroAxAf1iYluJ_fOI5lZl7g-gEzL/s400/monterey_good.jpg)
Velodyne Lidar - Monterey from binarymillenium on Vimeo.
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