about the lidar data
DarrenWong opened this issue · comments
Hey I have a question about the lidar data generation. I am able to get the horizon and the pandar64 data. Anything is ok if I use 10hz with synchronous_mode=True, but if I use 100hz then only part of the custom lidar data is received, as attached. Did I miss any config for this custom lidar? It is fine if I use the default lidar in 10hz as well as in 100hz.
Tried to set "points_per_second" and "rotation_frequency" but no useful for the custom lidar.
The code is based on the synchronous_mode.py of the carla 0.9.14
# new lidar
lidar_location = carla.Location(-0.5,0,2.095)
lidar_rotation = carla.Rotation(0,0,0)
lidar_transform = carla.Transform(lidar_location,lidar_rotation)
pandar64_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast')
pandar64_bp.set_attribute("lidar_type","Surround") # choose lidar_type as mechanical
pandar64_bp.set_attribute("name","pandar64") # choose lidar name as pandar64
pandar64_bp.set_attribute('points_per_second',str(9000000))
pandar64_bp.set_attribute('rotation_frequency',str(100))
lidar_pandar = world.spawn_actor(pandar64_bp,lidar_transform,attach_to=vehicle)
lidar_pandar.listen(lambda data: lidar_callback(data, '/home/darren/Documents/test/pandar64_1', 1))
actor_list.append(lidar_pandar)
# old lidar
lidar_location = carla.Location(-0.5,0,2.095)
lidar_rotation = carla.Rotation(0,0,0)
lidar_transform = carla.Transform(lidar_location,lidar_rotation)
lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast')
lidar_bp.set_attribute('channels',str(32))
lidar_bp.set_attribute('points_per_second',str(9000000))
lidar_bp.set_attribute('rotation_frequency',str(100))
lidar_bp.set_attribute('range',str(50))
lidar_sen = world.spawn_actor(lidar_bp,lidar_transform,attach_to=vehicle)
lidar_sen.listen(lambda data: lidar_callback(data, '/home/darren/Documents/test/normal_lidar', 1))
actor_list.append(lidar_sen)
It works at 100hz after revising some hard coding parameters in creating the custom lidar
for hesai
https://github.com/PJLab-ADG/LiDARSimLib-and-Placement-Evaluation/blob/a2882419ff0891bac68cda8d0536305f13e91693/LiDARSimLib/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Surround.cpp#L78
for livox
https://github.com/PJLab-ADG/LiDARSimLib-and-Placement-Evaluation/blob/a2882419ff0891bac68cda8d0536305f13e91693/LiDARSimLib/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Risley_prism.cpp#L70