Logic of the scanID

[arjunskumar]

can you explain the logic of L171. I'm using VLP16 lidar, attaching my scanID and Vertcal angle relationship diagram

[smileyenot983]

I have printed angle to scanID correspondings and for me it is like that:

angle -14.999978 scanID 0 angle -12.999980 scanID 1 angle -10.999983 scanID 2 angle -8.999986 scanID 3 angle -6.999990 scanID 4 angle -4.999993 scanID 5 angle -2.999995 scanID 6 angle -0.999998 scanID 7 angle 0.999998 scanID 8 angle 2.999996 scanID 9 angle 4.999993 scanID 10 angle 6.999990 scanID 11 angle 8.999987 scanID 12 angle 10.999983 scanID 13 angle 12.999980 scanID 14 angle 14.999978 scanID 15

Looks like these scanIDs are only used for painting circles with different colors, when they assign intensity to point depending on it's scanID

[arjunskumar]

@smileyenot983 which lidar you were using?

[smileyenot983]

It is VLP-16, just like you

[arjunskumar]

@smileyenot983 Thanks