Open CAS-LRJ opened 1 year ago
What is plotted in the Blender plot? I am not sure what you are comparing here.
What is plotted in the Blender plot? I am not sure what you are comparing here.
I use a python script to export the readings to a .obj file
readings_data = lidar.poll()
data1 = readings_data['pointCloud'].reshape(-1, 3)
# Remove Null Data like (0,0,0)
data1_ind = np.linalg.norm(data1, axis=1) > 0.
data1 = data1[data1_ind]
# Move the coordinates
data2 = np.array(lidar.get_position())
pc_obj = data1 - data2
with open('example.obj', 'w') as f:
for point in pc_obj:
f.write('v '+str(point[0])+' '+str(point[1])+' '+str(point[2])+'\n')
Then I visualize the obj file in Blender, and I found that there exist some abnormal points (in white circle). These floating points shoud not be here since there is no obstacles in front of the lidar.
Okay. We will take a look.
The LiDAR receives false data in front of a tunnel when the ego vehicle was driving in the Italy map. Level: Italy Position: (1535.8941650390625, 793.4702758789062, 149.81668090820312)
In-Game LiDAR Visualization
Recevied LiDAR Visualization (Blender)