The output point cloud is referenced to what coordinate system, relative to the vehicle itself or the LiDAR?

[huangchunan]

Platform : CARLA 0.9.15 Questions ： I am currently researching how to generate point cloud data using Carla. I met three questions. 1）When I use sensor.get_location(), it always show (0,0,0). I don't know where the LiDAR is attached to the vehicle. Any way to show the lidar sensor in Carla? 2）The output point cloud is referenced to what coordinate system, relative to the vehicle itself or the LiDAR? 3）Does weather affect the LiDAR point cloud? Any answer is welcome!

def __init__(self, parent_actor):
    self.sensor = None
    self._parent = parent_actor
    world = self._parent.get_world()
    self.debug = world.debug
    lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast_semantic')
    lidar_bp.set_attribute('channels', str(64))
    lidar_bp.set_attribute('points_per_second', str(1152000))
    lidar_bp.set_attribute('rotation_frequency', str(10))
    lidar_bp.set_attribute('range', str(15))
    lidar_bp.set_attribute('upper_fov', str(15))
    lidar_bp.set_attribute('lower_fov', str(-25))
    # lidar_bp.set_attribute('sensor_tick', str(0.1))

    self.sensor = world.spawn_actor(
        lidar_bp,
        carla.Transform(
            carla.Location(z=1.8372)),
        attach_to=self._parent)
    # time.sleep(5)
    if self.sensor.parent:
        print(f"Sensor is attached to: {self.sensor.parent.type_id}")
    print(f"lidar_sensor:{self.sensor.get_location()}")
    output_path = "/tmp/carla_lidar"
    self.sensor.listen(
        lambda point_cloud: \
                point_cloud.save_to_disk(os.path.join(output_path, '%06d.ply' % point_cloud.frame)))

[GoodarzMehr]

Hi, as far as I know, 2) relative to the lidar, 3) no, weather is only visually represented (only affects the rgb camera).