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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
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About LiDAR Intensity & PhysicalMaterial #6171

Open Chenskkk opened 1 year ago

Chenskkk commented 1 year ago

CARLA version: 0.9.13

Platform/OS: Ubuntu 18.04

Problem: I'm trying to get the surface material of the object hit by each laser point (ray_cast), and use this info to generate intensities of laser points.

First, I set bReturnPhysicalMaterial=true, and then use EPhysicalSurface physType = UPhysicalMaterial::GetPhysicsMaterial(HitResult); to get Surface Material, but every point returned zero.

I'm wondering that

  1. Whether each object in the simulation environment has the property of surface material, and there is an interface to get them correctly.
  2. Are there any plans to update the accuracy of LiDAR Intensity information?
stale[bot] commented 1 year ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

EmmettJZK commented 5 months ago

if you wanna use linetrace interact with physics material. As I remeber, you need to manualy set collision params ,something like "complex physics" or others. I mean ,by defualt, Linetrace will not return what physics material it hit, because it takes extra cost.