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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
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How to acquire intensity and angle when using LiDAR? #7674

Open huangchunan opened 2 weeks ago

huangchunan commented 2 weeks ago

Platform : CARLA 0.9.15 Question : I am currently researching how to generate point cloud data using Carla. I attempted to acquire [x, y, z, intensity, angle].However, after reading the sensor reference section of the CARLA document, I found out that the semantic LiDAR output does not include intensity and the LiDAR output does not include angle. Is there a way to acquire intensity and angle when using LiDAR?

Any answer is welcome!

GoodarzMehr commented 2 weeks ago

As defined here, the intensity value provided by CARLA's lidar sensor (which is more or less just a function of object distance) is different from the intensity value reported by a real-world lidar, which depends on the reflectance of objects hit by lidar beams and the incidence angle. A potential solution might be doing what's done in #3826 , or you can use the semantic lidar and try to approximate the intensity for each point based on its object class and incidence angle.