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AT128 ros sdk
how to run AT128 with ROS?
pcap data of LiDAR
Hi, could you please share me with .pcap file of AT128? Thanks!
range image计算问题
您的计算方式如下:
row_i = 128 - pt.ring;
if(atan2(pt.y, pt.x) >= 0) //[0,pi]
col_i = ((128.1/2) - atan2(pt.y, pt.x) * RAD) / 0.1;
else //(-pi,0)
col_i = (-atan2(pt.y, pt.x) * RAD + (128.1 / 2)) / 0.1;
根据atan2的取值范围(-pi, pi],以及AT128水平视场角范围120°, 不太明白为何这样计算col_i?
注:结合禾赛官网AT128数据显示: 角分辨率:0.1° (H) × 0.2° (V),视场角:120°(H) × 25.4°(V), 全局分辨率(点数):1200 × 128
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