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Changing the FoV of the LiDAR

asked 2020-01-18 13:54:38 -0600

msaeUF gravatar image

Hello! I have a Velodyne VLP16 puck and was wondering if there was a way to limit the Field of View. The VLP16 covers full 360 degrees, but would it be possible to only do like 270 degrees? Does ROS allow for such manipulation? Will Autoware still be able to perform detection (euclidean clusters etc)?

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answered 2020-01-19 22:51:00 -0600

mitsudome-r gravatar image

The VLP16 covers full 360 degrees, but would it be possible to only do like 270 degrees?

From my understanding, the driver has cut_angle[rad] parameter. See this launch for example. This parameter, however, only allow to set maximum angle to cut, which means specified range must start from 0 [rad].

Will Autoware still be able to perform detection (euclidean clusters etc)?

euclidean cluster has random input point so it should work just fine with filtered pointcloud.

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Thank you. I shall try that this weekend

msaeUF gravatar image msaeUF  ( 2020-01-25 10:14:50 -0600 )edit

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Asked: 2020-01-18 13:54:38 -0600

Seen: 400 times

Last updated: Jan 19 '20