Add support for Velodyne Velarray M1600 #483
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I've implemented support for the Velodyne velarray M1600, solid-state LiDAR by modifying the imageProjection.cpp and utility.h files. This pull request aims to integrate the functionality necessary for utilizing the Velarray M1600 within the existing framework.
For testing purposes, I've utilized a dataset, which includes data from a Velodyne Velarray M1600 and a 6-axis IMU, but it should work in a 9-axis-imu!
In the testing configuration, the following values were utilized:
params_m1600.txt
For the Horizon_SCAN, i consider 3077 points.
Results Snapshot:
This image showcases some of the results obtained through the integration of the Velodyne Velarray M1600.