gisbi-kim
commented
3 years ago Our algorithm requires not only number of rays, but also the vertical for in degree (when the lidar sensor is the origin)
you can see this concept at this line https://github.com/irapkaist/removert/blob/65566bb2dc5586020839fc11a925765b0c72399d/src/Removerter.cpp#L199
in summary, you need to change the variable "rimg_shape" and "kVFOV"
for example, if you are using a 16 ray lidar having [-25 deg, +25 deg] vertical fov, you can just use kVFOV = (25)-(-25) = 50 (as already used in the code)
but we suggest to adjust the range image shape (i.e., a size of a single pixel in a range image). for the 16 ray lidar, with naive assumption, a single ray is corresponding 50/16 ~ 3 deg for this case, we recommend to start to remove with a range image size whose pixel size is corresponding 3deg x 3deg
In our code, the rimg_shape is adjusted using a single parameter _res_alpha) Please refer this function https://github.com/irapkaist/removert/blob/65566bb2dc5586020839fc11a925765b0c72399d/src/utility.cpp#L54 That is, if you use alpha = 1, then a single pixel for 1 deg x 1deg, or if you use alpha = 0.5, then a single pixel for 2 deg x 2 deg. this empirical guideline was summarized in this line in the config yaml file https://github.com/irapkaist/removert/blob/65566bb2dc5586020839fc11a925765b0c72399d/config/params.yaml#L60
In conclusion, Thus you need to check your Lidar’s vertical fov range as well as the number of rays.
Thank you and enjoy.
hunkyu
If it is a 16-line lidar, what parameters need to be modified?