vertical_angle ?

Question

vertical_angle ?

cristianrubioa opened this issue 4 years ago · 3 comments

Hi :)

vertical_angle refers to the vertical resolution of the sensor?

<param name="vertical_angle" type="double" value="2.0" />

and if so, wouldn't the value be incorrect? for Velodyne HDL-64E sensor used in KITTI.

$vRes = \frac{vFOV}{channels-1}=\frac{26.9}{64-1}\approx 0.427$

Answer 1 · 2021-03-29T03:02:10.000Z

Hi @cristianrubioa :

The vertical angle is reserved for other type of 3D LiDAR. It is not used in the source code if you are using velodyne LiDAR.

Answer 2 · 2021-04-01T06:12:46.000Z

@wh200720041

To adjust the method to other types of LiDAR, the procedure would be to modify 'laserProcessingClass.cpp' in this case.
The 'N_SCANS' and the values for 'scanID' respective to the LiDAR sensor in the same way as its close relatives like A-LOAM

There is one more segment to modify?, Thanks

Answer 3 · 2021-04-13T04:22:29.000Z

Hi @cristianrubioa :

Yes you only need to edit the code in 'laserprocessingclass.cpp' and change scanID.