'lidarParameters' object usage for un organized to organized point cloud

Hi,

I wanted to organize a point cloud generated using innoviz one lidar using matlab functions 'lidarParameters' and 'pcorganize' function.

My doubt is, whether I can use 'lidarParameters' object as innoviz one is not there in the supported sensor list. Because in syntax it is showing that we can use function without sensor name.

Syntax

params = lidarParameters(sensorName,horizontalResolution)

params = lidarParameters(verticalResolution,verticalFoV,horizontalResolution)

params = lidarParameters(verticalBeamAngles,horizontalResolution)

params = lidarParameters(___,HorizontalFoV=horizontalFoV)

So if I use it without sensor name and with other sensor parameters, whether it will generate correct results when I am using it with pcorganize function? if not is there anyway I can use matlab functions to organize an innoviz one point cloud?

Thank you,

Nithin.

Answer 1

[Sanjana]

Hi Nithin,

Yes, you can use lidarParameters for sensors that are not present in the supported sensors list.

If you know the specifications (verticalResolution, verticalFoV, horizontalResolution) of the lidar sensor you are working with, you can use the lidarParameters function to create sensor parameters object and use pcorganize to convert the unorganized point cloud to organized point cloud.