No interpolation of azimuth in non-VLP16 unpack() function

[shawnhanna]

It looks like there is azimuth velocity interpolation for points in the rawdata::unpack_vlp16() function, but not in rawdata::unpack(). Is there a reason to not have this functionality in both functions?

[JWhitleyWork]

@shawnhanna - I am not really sure. I did not originally develop the driver and don't have this level of knowledge of the sensors. Let's see if @jack-oquin can help here.

[n-patiphon]

@shawnhanna I'm not 100% sure but I think one of the reasons it is not implemented yet is because it would be too complicated. Since each model has a different firing timing, which is necessary for the azimuth interpolation, you would need to change this timing according to the sensor model. Still, I think it's important to accurately convert data packets to point cloud. I found that unpacking data properly can significantly improve mapping results (my use case).

I forked this repo a while ago (last year) because I needed to custom some parts of it. I ended up making something like unpack_vlp16, unpack_vlp32c, unpack_hdl32e, etc. I personally think this is not an elegant way to do it, so I didn't make a PR. If the community is interested and is willing to help with my messy source codes, I will work on it when I have time.

[kaarta-SHanna]

@n-patiphon Could I see the code you wrote that does this? I can collaborate with you to clean it up and return it to the community when we're finished.