Question about VerticalRayAngles

lgsvl / simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles

Other

2.29k stars 779 forks source link

Question about VerticalRayAngles #1733

Open duongtran11 opened 3 years ago

duongtran11 commented 3 years ago

In LidarSensor.cs script, there is one line I don't understand line 227 if (VerticalRayAngles.Count == 0) In which situation this (VerticalRayAngles.Count == 0) would happen?

EricBoiseLGSVL commented 3 years ago

If you look to LidarSensor.Templates, you see that only Lidar32-NonUniform has VerticalRayAngles, all others don't so the comment states that if (VerticalRayAngles.Count == 0) then Max/MinAngle needs to be calculated // Assuming center of view frustum is horizontal, find the vertical FOV (of view frustum) that can encompass the tilted Lidar FOV. // "MaxAngle" is half of the vertical FOV of view frustum. Adding @kamkolak-lge for verification.

duongtran11 commented 3 years ago

Thank you for the answer. May I ask what is a non-uniform Lidar and what is it used for?

EricBoiseLGSVL commented 3 years ago

No problem. I'll ping the AD team on this