I’m testing the Hesai XT32 together with LidarView.
According to the support from Hesai, the angle and firetime correction can be requested from the Lidar sensor. Is LidarView requesting the device specific Angle and firetime Correction and does apply the correction, or do I manually select the custom correction file in the Device settings?
Thank you for your support!
Hi @parlor605,
Unfortunately LidarView do not request automatically the angle & firetime correction for hesai lidars yet. The only way to apply the angle correction is to load a csv file with the Use custom calibration file checkbox.
Let me know if you any other question about LidarView !
Hi @Timothee_Couble,
Thank you for the fast reply. Is there a documentation about the formatting of the custom calibration file? I exported the angle correction file from the Hesai XT32 with PandarView 2 and tried to apply it in LidarView. I didn’t see a visual change in the live data.
By the way, thank you for your great work with ParaView and LidarView! I’m getting started with lidar and LidarView helps to make fast tests.
The format should follow the one that you can find here with azimuth offset and elevation angle for each laser.
From what I have seen, the deviations stay in the range of roughly 0.1deg.
So if you are zooming on a certain area, you should spot small differences, but that should not appear obvious if you are not looking for it.
Note: you can open twice the same pcap file, one with the default calibration file and one with the custom one, you should notice slight changes. This should give you something like this ( points on the ground with twice the same pcap, once with default, once with custom calib)
Hi @parlor605,
We fixed a bug present in LidarView 5.0, that prevented from loading a custom calibration file for XT32 models. The fixed version is available here: linux or windows
Hi @Timothee_Couble,
Thank you for this insight and support. Has this been fixed for LidarView 5.1? I tried to load the default calibration file from gitlab or the custom one. Neither worked and the live view of the lidar data wasn’t showing.
If I restart LidarView 5.1 and unselect “Use custom calibration file”, the live view shows the data. Afterwards, I select the custom calibration in the bottom right and click “Apply”, but the live view doesn’t change. I created a “fake” calibration file with over 1° of difference, but no change is shown either. Is the live view not using the calibration file and the recorded data is or is this a bug?
Hi @parlor605,
The bug was present in LidarView 5.0 and LidarView 5.1, it was fix very reccently (last week) and it should work correclty on the packages linked in my previous message (v5.1.0-9) and in nightly builds.
Let me know if that works
Hi @Timothee_Couble,
Thank you for the support. Unfortunately, it didn’t help with the nightly build nor the your linked version.
I tested the following (same as with the old version):
The live view of the lidar data wasn’t showing when I selected “Use custom calibration file” during the setup of the Lidar Stream.
If I restart LidarView and unselect “Use custom calibration file”, the live view shows the data. Afterwards, I select the custom calibration in the bottom right and click “Apply”, but the live view doesn’t change. I created a “fake” calibration file with over 1° of difference, but no change is shown either.
Is it possible that it isn’t fixed or am I using the wrong version (5.1.0-9-g35667)
