Unitree L1 Lidar DIY viewer has some data offset by approx 16 degrees.
I have an eventual goal of running the L1 Lidar directly over UART to a MCU.
As an intermediate step I've been developing a C++ PC viewer (using the official UART>USB serial module) to get the payloads and decoding down but have been struggling to understand where this double image phenomenon is coming from.
The official unilidar viewer doesn't show this double image and I've been able to confirm this is not a rendering bug and appears in the data itself. When zooming in on near-field test objects it appears to have a complementary/alternating stripping effect indicating both images contain real depth plots and not simply duplicates.
My initial thoughts where it's a temporal/async issue coming from a secondary or auxiliary process that with a naive decode ends up with an offset that jut needs buffered and matched. All my tests so far indicate this is genuine data that isn't being processed properly rather than a render bug of duplicate data.
Has anyone seen anything like this before from any LIDAR products or have any ideas how to untangle the depth points, potentially with a good reference test for a manual alignment?