Bad results on custom data

[poornimajd]

Hi Great work!
I was using Convert_Velo_2_Pano.ipynb for my Indian Driving Data(IDD) and the lidar used for this dataset is Velodyne VLP-16.I changed the angular resolution and hfov and vfov accordingly,but I got a very bad result.

But when I use the code on Kitti dataset for Velodyne HDL-64E (with the respective resoluion and fov)
I got much better results.

Can anyone suggest what is going wrong?
Is the conversion also dependent on any other factors based on lidar?
Thank you