Important
We assume that you set the (0,0,0) at the sensor center position where sensor located. Since I knew some data process will set to base link which will cause the sensor height parameter doesn't work.
Here is what I mean, all visualization here are provided by DeFlow vis scripts:
- KITTI: 1x 64 lidar
- Nuscenes: 1x 32 lidar
- Argoverse 2: 2x 32 lidar
- Semi-indoor: 1x 16 lidar
- Waymo: custom lidar.
- Zod: 128 lidar + 2x 16 lidar ... More on the way