Adding VLP-16 to blendodyne about blensor HOT 3 OPEN

Got the answer - these are the firing orders

http://velodynelidar.com/docs/manuals/63-9113%20HDL-32E%20manual_Rev%20H_Sept.pdf

from blensor.

Dear Galto,

thank you for your message. Support is always welcome.

Adding the VLP-16 does not really require you to implement a whole new sensor, because it is probably very similar to the HDL-32 and HDL-64

Adding it would require you to store an array for the 16 vertical angles (like laser_angles and laser_angles_32), add a new element to the models array, and all the code that makes the distinction between the different types of velodyne sensors.

Take a look at blendodyne.py and search for 32e2 to see where you need to add code to support another sensor.

If you need advice, just let me know

Michael

from blensor.

Thanks Michael

Is there a particular reason why the laser angles appear to be staggered ?

For example the angles for the HDL-32 don't appear to be in a nice successive order, but instead appear to be interleaved pairs of two series (-30.67, -29.33, ...,-10.67) and (-9.33, -8.00, ... 10.67)

laser_angles_32 = [-30.67, -9.33, -29.33, -8.00, -28.00, -6.66, -26.66,
                   -5.33, -25.33, -4.00, -24.00, -2.67, -22.67, -1.33,
                   -21.33, 0.00, -20.00, 1.33, -18.67, 2.67, -17.33,
                   4.00, -16.00, 5.33, -14.67, 6.67, -13.33, 8.00,
                   -12.00, 9.33, -10.67, 10.67]

Thanks

Galto

from blensor.