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UsmanJafri / LiDAR-GTA-V

A plugin for Grand Theft Auto V that generates a labeled LiDAR point cloud from the game environment.
MIT License
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Simulating Velodyne HDL-64 E LiDAR sensor #7

Closed niqbal996 closed 5 years ago

niqbal996 commented 5 years ago

Hi @UsmanJafri , I am trying to simulate [Velodyne Lidar] used for KITTI benchmark(https://velodynelidar.com/hdl-64e.html) inside GTA5. Your config file provided has the rest of the parameters inside which was great. But the above shown LiDAR has

  1. 64 channels and

additional parameters which I want to simulate for GTA5 as well. If I understand correctly, this will also lead to variable number of points at the output for each snapshot(which is what I desire). Do you have any suggestions for me on how to approach this problem? Thank you in advance and appreciate your work.

UsmanJafri commented 5 years ago

Hi @hitman996,

The number of channels represents the number of laser emitters and detectors arranged in the vertical FOV. So for the HDL64e sensor, a vertical FOV of 26.9 degrees with 64 channels means that there must be a spacing of 0.42 degrees vertically between laser rays. Since 26.9 / 64 = 0.42

This can be verified by viewing the official HDL64e datasheet which reports the vertical resolution as 0.4 degrees.

Therefore to simulate the 64 channels using LiDAR-GTA-V you can set Vertical_Step = 0.42 in the LiDAR GTA V.cfg file.