paramter_configuration_for_benchmarks.txt

//For A-LOAM：

//Modified code for KITTI dataset 
//Please comment out lines 189 to 199 in the scanRegistration.cpp file and then insert a new code segment in that space.

/*
	    if (angle >= -8.83)
                scanID = int((2 - angle) * 3.0 + 0.5);
            else
                scanID = N_SCANS / 2 + int((-8.83 - angle) * 2.0 + 0.5);

            // use [0 50]  > 50 remove outlies 
            if (angle > 2 || angle < -24.33 || scanID > 50 || scanID < 0)
            {
                count--;
                continue;
            }

*/
        float upBound = 2
        float lowerBound = -24.9;
        float _factor = (N_SCANS-1) / (upBound - lowerBound);
        scanID =  int((angle  - lowerBound) * _factor + 0.5);
        if (scanID >= N_SCANS || scanID < 0)
        {
            count--;
            continue;
        }

//Modified code for M2DGR dataset 
//Please comment out line 180 in the scanRegistration.cpp file and then insert a new code segment in that space.
        // scanID = int((angle + 92.0/3.0) * 3.0 / 4.0);
        float upBound = 15
        float lowerBound = -25;
        float _factor = (N_SCANS-1) / (upBound - lowerBound);
        scanID =  int((angle  - lowerBound) * _factor + 0.5);


//For LeGO-LOAM, reconmend
//Reference code：https://github.com/Mitchell-Lee-93/kitti-lego-loam/tree/master

//Modified code for KITTI dataset 
//Please comment out the original configuration for LIDAR in utility.h file and then insert a new code segment in that space. 
//Vel 64
extern const int N_SCAN = 64;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 0.2;
extern const float ang_res_y = 0.427;
extern const float ang_bottom = 24.9;
extern const int groundScanInd = 50;


//Modified code for M2DGR dataset 
//Please comment out the original configuration for LIDAR in utility.h file and then insert a new code segment in that space. 
// VPL-32C
extern const int N_SCAN = 32;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 360.0/float(Horizon_SCAN);
extern const float ang_res_y = 40/float(N_SCAN-1);
extern const float ang_bottom = 25;
extern const int groundScanInd = 23;