Handeling asymmetric vertical FOV's correctly

[pbrandschutz]

Hy.

I'm using a Livox MID360 LiDAR as observation source. The MID360 has a vertical FOV of -7° to 52°.
The parameter vertical_fov_angle assumes that my FOV is symmetric.
What is the correct approach for asymmetric FOV's?

Thanks
Peter

[SteveMacenski]

I think that is a feature that needs to be added, that is not something that is currently supported out of the box. There really weren't any asymmetric rotational 3D lidars when that was developed. It should be a pretty easy feature and happy to review a PR to add 😄 Add a top/bottom FOV parameter options that can be set and update the calculation to use that

[faseelmo]

Hi @SteveMacenski,

I'm also using a Livox Mid-360 and would be happy to contribute this feature. Would you recommend removing the existing vertical_fov_angle parameter and replacing it with vertical_fov_angle_top and vertical_fov_angle_bottom, or adding these new parameters in addition to vertical_fov_angle and checking if they’re set before computing whether a point is inside the frustum?

Also, are we expecting asymmetric vertical FOVs in depth cameras as well?

[pbrandschutz]

Hy @SteveMacenski

You can check my PR #341.
I requested a merge to the jazzy branch, I hope this is fine.

@faseelmo My PR is for LiDAR only. I don't know any depth cameras with asymmetric FOV.

Thanks