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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
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The method of acquiring intensity of each point using the 'Semantic LiDAR' sensor. #6425

Closed seungtae-Han closed 1 year ago

seungtae-Han commented 1 year ago

Platform : CARLA 0.9.14 Question : I am currently researching semantic segmentation for LiDAR point cloud. To create a semantic segmentation dataset, I attempted to acquire [x, y, z, intensity], object ID using the semantic LiDAR sensor in CARLA. However, after reading the sensor reference section of the CARLA document, I found out that the semantic LiDAR output does not include intensity.

Is there a way to acquire intensity using the Semantic LiDAR? For example, matching the points acquired from both LiDAR and semantic LiDAR sensors and assigning the intensity of LiDAR points to the points acquired from semantic LiDAR, or any other method...

Any answer is welcome. PLEASE HELP !

p.s. I would like to ask those who have experience with autonomous driving simulators if there is a simulator available that allows for custom map creation and acquisition of semantic LiDAR information (including intensity).

JosenJiang commented 1 year ago

In real world, the intensity is related to many factors, such as range, material, shape, color. It is hard to simulate. This feature is not currently supported in Carla.