What is the exact cut angle of the pointcloud?
By “cut angle” I am referring to an angle where lidar sweep is cut and packed into a pointcloud.
At the “Data collection” page I have found information “…the timestamp of the LIDAR scan is the time when the full rotation of the current LIDAR frame is achieved.”
Furthermore, by observing the timestamps of the reference samples and corresponding camera images I have noticed a consistent time difference for each camera which suggests there is a consistent cut angle, but I am not able to reverse engineer it precisely.
It seems that the cut angle is somewhere in the middle of the rear left camera and that the lidar rotates in a clockwise direction, please correct me if I’m wrong.
Since we need some reference frame we can assume 0° is at lidar’s y-axis (forward direction) and that the angle increases in clockwise direction to 360° (x-axis would then be at 90°).
Lastly, is the motion distortion compensated in the lidar pointclouds using ego-motion?