Query regarding vertical field of view

Skari

Hi, so the OS1 datasheet mentions the vertical field of view to be 45 degrees (+22.5 to -22.5) however from the config file I see that the beam altitude angles vary from _16.8 degrees to -16.6 degrees. This only provides about 33.4 degrees of vertical FoV. Even in the software user manual (under 3.1.2 Lidar range to XYZ), XYZ co-ordinates are directly obtained using the beam altitude angle. So it doesn't look like there's any sort of remapping of these angles into the FoV. Is there something I'm missing? Any insights would be helpful.

P.S I've used the config file from sample data.

Thanks

sylvialaoaguilar

Hi Skari,

Looks like you have one of our Gen 1 sensors. The vertical field of view in our OS1 changed from 33.2 to 45 degrees when we launched Gen 2 sensors.
You can download all documentation for your sensor from our download center. [https://ouster.com/downloads/]

Make sure you select hardware version as Gen 1 and whichever firmware you have installed.
We also recommend to upgrade the firmware to the latest version to get the most out of your lidar.

Best,
Sylvia, Ouster EMEA