adjust VLP32 laser azimuth cache calculation and add note

tier4 · Apr 25, 2024 · f499a96 · f499a96
1 parent 8e8653a
commit f499a96
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp_32.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp_32.hpp
@@ -12,7 +12,8 @@ class VLP32 : public VelodyneSensor
   bool fillAzimuthCache()
   {
     for (uint8_t i = 0; i < 16; i++) {
-      laser_azimuth_cache_[i] = (VLP32_CHANNEL_DURATION / VLP32_SEQ_DURATION) * (i + i / 8);
+      laser_azimuth_cache_[i] = (VLP32_CHANNEL_DURATION / VLP32_SEQ_DURATION) *
+                                (i + i / 2);  // TODO: better understand this calculation
     }
     return true;
   }