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mgschwan / blensor

Blender Sensor Simulation
www.blensor.org
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Why HDL-64E2 lose some area when scanning #42

Open SkyeFromKindergarten opened 3 years ago

SkyeFromKindergarten commented 3 years ago

Hi~ blensor is very impressive!

But I find some problems: when I use HDL-64E2, it seems to lose some area (the top of the car in the picture) image

when using HDL-32, it seems right. image

Did I mistake some settings? Can you help me with this? Thank you!

SkyeFromKindergarten commented 3 years ago

I follow your guide in blensor.org (by changing the fps of the camera) but still cannot have a completed scan.

GUIDE: https://www.blensor.org/intersection_scan.html The scanner is a Velodyne HDL-64E S2 with a rotation speed of 20Hz The simulation interval is 41.66 milliseconds (or 24 fps) thus one scanner rotation takes longer than a single simulation interval leading to single scans that do not cover the whole 360 degrees.

This is intended and can be made coarser (full rotation per simulation interval) or finer (even less degrees covered by one simulation interval) by increasing/decreasing the FPS in the render panel and adjusting the movement of the scanner in the scene to be faster/solwer.

mgschwan commented 3 years ago

The 64E has a smaller vertical field of view than the 32E

The pitch angles of the 64E are between -24.893286 and 1.971796, and the pitch angles of the 32E are between -30.67 and 10.67

So in order to have the car fully scanned without tilting one of the sensors you would have to put the sensor higher and/or further away.

SkyeFromKindergarten commented 3 years ago

put the sensor higjer or further will make the point more less(sparse).