https://blog.wongcw.com/2018/12/22/%e5%b0%bc%e5%ba%b7%e9%80%b2%e8%bb%8d%e6%bf%80%e5%85%89%e9%9b%b7%e9%81%94%e5%b8%82%e5%a0%b4%e8%88%87velodyne%e5%90%88%e4%bd%9c%e9%96%8b%e7%99%bc%e5%82%b3%e6%84%9f%e5%99%a8/