VLP16激光雷达特性学习2.pptxVIP

VLP16数据的几点补充Point Index就是对应的Laser ID, 且Laser ID 一一对应着Elevation angle,就是那个垂直方向上的角度（-15o ~ +15o).24x55.296 μs=1.327 ms.1 packet/1.327 ms, 753.5 packets/second,扫描一圈速度很快 一个data block 返回一个方位角，包含两个16线的发射序列，第2个序列是当前方位角和下一个block方位角的均值；一个packet包含12个方位角下的12个data block，24个16线的发射序列;Page 62, /wp-content/uploads/2019/02/Velodyne-LiDAR-VLP-16-User-Manual.pdf方位角的分辨率: 因转速的改变而改变16线, 32线, 64线，是指laser, 16 lasers, 32 lasers, …..Azimuth N+1 的插值计算：/wp-content/uploads/2019/09/63-9276-Rev-C-VLP-16-Application-Note-Packet-Structure-Timing-Definition.pdf每个点对应的方位角的计算方法：/wp-content/uploads/2019/02/Velodyne-LiDAR-VLP-16-User-Manual.pdf方位角及距离计算/wp-content/uploads/2019/02/Velodyne-LiDAR-VLP-16-User-Manual.pdfPCL (Point Cloud Library) 安装:sudo apt-get update sudo apt-get install git build-essential linux-libc-devsudo apt-get install cmake cmake-guisudo apt-get install libusb-1.0-0-dev libusb-dev libudev-devsudo apt-get install mpi-default-dev openmpi-bin openmpi-common sudo apt-get install libflann1.8 libflann-devsudo apt-get install libeigen3-devsudo apt-get install libboost-all-devsudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-devsudo apt-get install libqhull* libgtest-devsudo apt-get install freeglut3-dev pkg-configsudo apt-get install libxmu-dev libxi-devsudo apt-get install mono-completegit clone /PointCloudLibrary/pcl.git cd pcl mkdir release cd releasecmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. make sudo make installsudo apt-get install libopenni-dev (pcl visualizer 库)sudo apt-get install libopenni2-dev/yingmai7741/article/detailsCL (Point Cloud Library) 教程:Voxel filtering,Octree,Segmentation,Visualization,KdTree,……https://pcl.readthedocs.io/projects/tutorials/en/latest/https://pcl.readthedocs.io/projects/tutorials/en/latesthttps://pcl.readthedocs.io/projects/tutorials/en/latest////感谢老师的指导！谢谢大家！The offset equation is given by: 2mm是预先设定好的吗？