Setting horizontal resolution of LiDAR when layers are not consistent #571
Description
Hello! I am attempting to implement LIO-SAM with a Sick Multiscan136 LiDAR.
The odd thing about this LiDAR is that it has 14 "normal" layers with 360 scans per revolution, and 2 "high resolution" layers with 2880 scans per revolution. Will LIO-SAM work with this sensor?
If so, what should I set the parameter Horizon_SCAN to? 2880 or 360? or some value between the two?
Many Thanks!