Is it possible to use mrs_liosam_core with a limited horizontal FOV of point cloud?

[MJavadZallaghi]

In my settings I use a depth camera and using depth_image_proc ros package I can have the 3D point cloud of the environment, but I see just front of the robot. It means I have 3D point cloud with vertical FOV of 35 deg x horizontal FOV of 70. So it's not like an Ouster data where I can have 90 deg x 360 deg FOV.

I want to use mrs_liosam_core for state estination where I don't have GPS. I checked the config file of this package (uav.yaml) and see these lines:

lidar3d:

  frequency: 10 # [Hz]
  vfov: 90      # [deg]
...

As I didn't see a hfov parameter, I assumed probably mrs_liosam_core just works with 3D LiDARs with a 360 deg horizontal FOV. Am I correct? If it's a fact, does it mean that I can't use this state estimaor with my settings where I have only a depth camera and it's limited FOV?

I'm intetersed in any point-cloud based estate estimation package which works for my settings and appreciate it if you can give me a hint in that direction! :)

[klaxalk]

@petrapa6 @petrlmat

[petrapa6]

Hey @MJavadZallaghi, I don't think it's possible as far as I remember. But to be 100% sure, study LIO-SAM itself. mrs_liosam_core is just a wrapper around LIO-SAM.