Problem in test VLP32c about ilcc

[mfxox]

Hi, Rockyzyk

I checked vertical angular resolution of VLP32c and found that although the angular intervals between laser beams are not linear, most intervals are 0.333 deg or 0.667 deg.

I think we can set vertical angular resolution as 0.333 deg approximately. (Then, try to adjust "agglomerative_cluster_th_ratio" in config.yaml for the best result.)
I don't have VLP32c now, so can't test it yet.
You can have a try with the master version, in which "vlp32c" can be set as a valid "LiDAR_type" in config.yaml.
Of course, it is appreciated if you can share your test data with VLP32c.

[Rockyzyk]

THANKS, we test it as you advice and succeed.

[poornimajd]

THANKS, we test it as you advice and succeed.

@Rockyzyk can you please let me know what was the size of your checkerboard grid? I am trying to use vlp-32c,but it always shows marker not found in the point cloud.I have a A1 size paper with 7cm as the grid size.Was there any other change you had to make for the code to make it work for vlp 32c? Any suggestion is appreciated.
Thanks