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microsoft / AirSim

Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research
https://microsoft.github.io/AirSim/
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LIDAR is not generating correct point clouds #4704

Closed jayamohan-cb closed 1 year ago

jayamohan-cb commented 1 year ago

I am trying to capture point clouds of LIDAR installed in an Aircraft hangar. Here is the unreal window in simulation mode image

LIDAR is generating only few points and after some range . Here is the output point cloud displayed in online viewer image

Problem is after some distance ,,all points are placed on same vertical plane. LIDAR Range value is kept very high value in order to check whether it is because of the short range . But there is no difference in output. image

LIDAR parameters mentioned in the settings file is as follows "LidarSensor1": { "SensorType": 6, "Enabled": true, "NumberOfChannels": 64, "RotationsPerSecond": 10, "Range": 200000000, "PointsPerSecond": 10000, "X": 0, "Y": 0, "Z": -1, "Roll": 0, "Pitch": 0, "Yaw": 0, "VerticalFOVUpper": -45, "VerticalFOVLower": 45, "HorizontalFOVStart": -45, "HorizontalFOVEnd": 45, "DrawDebugPoints": true, "DataFrame": "SensorLocalFrame" }

Can somebody tell , why LIDAR points are blocked after some distance?

jayamohan-cb commented 1 year ago

This issue was due to the simple collision volumes created along with the sub parts of the model. Removed all simple collision volumes and kept Complex volume as simple option in Unreal Editor and saved the model. Then it started working.