Lidar

The information is stored as spherical coordinates (r, φ, θ),

• r : radial distance
• φ : polar angle
• θ : azimuth angle

The data is converted so that zero azimuth points in the positive x direction with positive rotation counter clockwise (in the xy-plane) and with polar angle relative the z-axis.

최소 측정 거리 계산 : 센서 높이, FOV에 따라 다름