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@foxglove/velodyne-cloud

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TypeScript library for converting Velodyne LIDAR packet data to point clouds

github.com/foxglove/velodyne-cloud

foxglove/velodyne-cloud

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{ "lasers": [ { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 0, "rot_correction": 0, "vert_correction": -0.17453292519943295, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 1, "rot_correction": 0, "vert_correction": 0.011635528346628864, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 2, "rot_correction": 0, "vert_correction": -0.15126186850617523, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 3, "rot_correction": 0, "vert_correction": 0.03490658503988659, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 4, "rot_correction": 0, "vert_correction": -0.1279908118129175, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 5, "rot_correction": 0, "vert_correction": 0.05817764173314432, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 6, "rot_correction": 0, "vert_correction": -0.10471975511965977, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 7, "rot_correction": 0, "vert_correction": 0.08144869842640205, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 8, "rot_correction": 0, "vert_correction": -0.08144869842640205, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 9, "rot_correction": 0, "vert_correction": 0.10471975511965977, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 10, "rot_correction": 0, "vert_correction": -0.05817764173314432, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 11, "rot_correction": 0, "vert_correction": 0.1279908118129175, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 12, "rot_correction": 0, "vert_correction": -0.03490658503988659, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 13, "rot_correction": 0, "vert_correction": 0.15126186850617523, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 14, "rot_correction": 0, "vert_correction": -0.011635528346628864, "vert_offset_correction": 0 }, { "dist_correction": 0, "dist_correction_x": 0, "dist_correction_y": 0, "focal_distance": 0, "focal_slope": 0, "horiz_offset_correction": 0, "laser_id": 15, "rot_correction": 0, "vert_correction": 0.17453292519943295, "vert_offset_correction": 0 } ], "distance_resolution": 0.002 }