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.
Velodyne Lidar - Monterey from binarymillenium on Vimeo.
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