How to retrieve objects scanned by a LiDAR sensor

[zwbai]

Hi there,

I am trying to collect the objects that are scanned by a LiDAR sensor. Instead of directly calling those objects by geo-fencing, is there any other way to return them based on whether they are scanned by the sensor?

Really appreciate all kinds of help!

[xiao6768]

In fact, LiDar sensor is using trace-line to detection collision and return lidar distance. Get collition-id might be help for you.

[zwbai]

Thank you very much for your reply. I have tried the collision detector but it did not work with the trace-line collision. For example, I initiate a collision detector, and attach it to a lidar sensor, hoping it can return the objects hit by lidar beams.

collision_bp = blueprint_library.find('sensor.other.collision')
collision = world.spawn_actor(collision_bp, carla.Transform(), attach_to=lidar)
collision.listen(lambda event: collision_callback(event))

However, nothing returned when I generated surrounding vehicles. So could you please specify a bit more about how to implement the get collision id process? Really appreciate it!

[xiao6768]

What about Semantic LIDAR sensor?

This sensor simulates a rotating LIDAR implemented using ray-casting that exposes all the information about the raycast hit. Its behaviour is quite similar to the LIDAR sensor, but there are two main differences between them.

The raw data retrieved by the semantic LIDAR includes more data per point. Coordinates of the point (as the normal LIDAR does). The cosine between the angle of incidence and the normal of the surface hit. Instance and semantic ground-truth. Basically the index of the CARLA object hit, and its semantic tag. The semantic LIDAR does not include neither intensity, drop-off nor noise model attributes.

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