jlblancoc
commented
1 year ago The way 3D Lidar simulation works deserves a paper to explain it in detail... :-) But in short: the 360 deg FOV is split into N views from a "fake" RGBD-like camera, then the data is converted to match the "ring-like" sampling of space done by lidars.
By default, N=3... hence the triangles. But we set default parameters such that it was barely noticeable in our tests, so I'm curious about your case. Please, would you provide:
- Your GPU details?
- A ZIP with your test world + vehicle + sensor definition? Don't include any textures, etc. just the most simple case that shows these artifacts.
You can also experiment increasing the parameters vert_resolution_factor and maybe also horz_resolution_factor while including your lidar sensor in the world model. Refer to the list of parameters here. Set them to 1.5, 2.0, 2.5, 3.0, etc. to see if it makes any improvement.
PS: The linear vs annular shapes also may be affected by the OpenGL depth-buffer resolution of the GPU driver / implementation, that's why I asked for the GPU model, and I would add, if it's an NVIDIA, whether you are using the proprietary drivers or the nouveau open version.
Hi,
I am using MVSim to see and analyze the effectiveness of the LIDAR positions. But the point that I am curious about it is the working system of LIDAR in MVSim. I am expecting a circular output but especially in further distances, LIDAR outputs are seen as triangular. I am using OUSTER LIDAR in simulation. Can I change the triangularity to circularity or is it impossible to change? Also why the LIDAR output is seen triangular in MVSim? I would be very pleased if you are answer. Thanks in advance. There are some pictures of outputs that I am getting in below.