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PJLab-ADG / PCSim

PCSim: LiDAR Point Cloud Simulation and Sensor Placement! Code of [ICRA 2023] "Analyzing Infrastructure LiDAR Placement with Realistic LiDAR Simulation Library" and [ICCV 2023] "Optimizing the Placement of Roadside LiDARs for Autonomous Driving".
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Risley_prism LiDARs not getting any data back, after CARLA recompilation #21

Open albertojl24 opened 10 months ago

albertojl24 commented 10 months ago

Hello there,

I have tried to implement your library within CARLA and ROS, but I see that after following all the steps mentioned in the repo, the LIVOX LiDARs seem to return empty data:

Output print: CARLA LIDAR: LidarMeasurement(frame=36016, timestamp=523.499065, number_of_points=0) Even though the creation of those LiDARs are correct from CARLA's side:

creating tele
Tele_csv file read successfully
create tele successfully
creating lasers of Risley_prism
CaoShuxing commented 9 months ago

hello，Have you successfully integrated the RainyPCSim library? Have you encountered any problem with ProxyParticleSpawn compilation errors?

AitorIglesias commented 8 months ago

Hello there,

I have tried to implement your library within CARLA and ROS, but I see that after following all the steps mentioned in the repo, the LIVOX LiDARs seem to return empty data:

Output print: CARLA LIDAR: LidarMeasurement(frame=36016, timestamp=523.499065, number_of_points=0) Even though the creation of those LiDARs are correct from CARLA's side:

creating tele
Tele_csv file read successfully
create tele successfully
creating lasers of Risley_prism

Hi @albertojl24,

Same problem, have you solve it?

GimpelZhang commented 6 months ago

Same problem.

But I found that there is another file in which the path should be changed: LiDARSimLib/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Risley_prism.cpp

After I changed the path in Risley_prism.cpp, the horizon lidar had "normal" output.

I implement the LiDARSimLib in the latest carla (0.9.15): carla with LiDARSimLib & Fisheye. Hope that will help.