Remove LiDAR points in a region that is of no interest similar to azimuth window

Hardware
1

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I have a robot with two ousters in the front and back. Red line indicates the wire connector on the ouster. Green region is the region where I dont want any points to be collected or sent to other ROS nodes (to save a little bit of compute from processing those points).

I want to know if there is a way to remove those point in green region similar to azimuth window but [0,15000], [45000,360000]. Thanks!

2

If you are using the ouster-ros drivers ( GitHub - ouster-lidar/ouster-ros: Official ROS drivers for Ouster sensors (OS0, OS1, OS2, OSDome) ), you could utilize the mask option to filter points in any shape.

You may try it as follows:

roslaunch ouster_ros driver.launch.xml sensor_hostname:=<sensor_url> mask:=mask_image.png

mask_image.png is a black and white image where black pixels blocked range values (range set to zero) and white pixels leave range value unmodified. The mask_image.png would be of the same resolution as the active LidarMode (preferably, otherwise it will be scaled to match the LidarMode.

Additionally, you may want to set the “organized” flag to false to save on bandwidth when publishing pointclouds knowing that a good part of the pointcloud is going to be empty.