getLidarData() doesn't work well in Blocks and cunstom environment

[orangeccc]

I use the same simple test code for collecting lidar data and vehicle trajectory as below:

    i=0
    traj = []
    while(i<250):
        lidarData = client.getLidarData()
        car_state = client.getCarState()
        points = parse_lidarData(lidarData)
        numpy.savetxt("points\{}.csv".format(i),points)
        a = car_state.kinematics_estimated.position
        traj.append([a.x_val, a.y_val, a.z_val, car_state.timestamp]r)
        i += 1
        time.sleep(0.1)
    numpy.savetxt("trajectory.csv", traj)

But I find it works differently in different environment. When using CityEnviron , the center of the point cloud changes correctly as the vehicle moves , so I can get a point cloud scene of the environment by merging all points clouds as shown in Fig 1. The point cloud centers follows the trajectory (red points ) well.

Fig 1 lidar points in CityEnviron

However , the center of the point cloud doesn't change as the vehicle moves when using Blocks or other custom environment ，Fig 2. It seems something wrong with getLidarData().

Fig 2 lidar points in Blocks

Maybe it is similar with #1865 , but I'm not quite sure.

Thanks for any help!

• Windows 10, AirSim 1.2.0, Python 3.6.3, Unreal 4.19

[v-prgmr]

@orangeccc , What is platform used for visualization?

[orangeccc]

@vishal-prgmr CloudCompare. See https://github.com/CloudCompare/CloudCompare

[msb336]

@vishal-prgmr
Can you copy and paste your settings.json file used? There is an option to specify which frame you want LiDAR to return in (global, or sensor local). You can see more here.

[orangeccc]

@msb336 Thanks! I used the SensorLocalFrame for DataFrame Option , now I change to VehicleInertialFrame and it works.

[lcyawym]

@orangeccc hello， I have some errors on get lidar data，can you show your setting flie？When I simulation it always happen that no vehicle named or no lidar on vehicle 。 I think maybe something wrong on setting files。 thankyou

[v-prgmr]

@lcyawym

May be this is helpful

{
"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings_json.md",
"SettingsVersion": 1.2,

"SimMode": "Car",
"RecordUIVisible": true,
"LogMessagesVisible": true,
"ViewMode": "",
"Recording": {
"RecordOnMove": false,
"RecordInterval": 0.05,
"Cameras": [
    { "CameraName": "4", "ImageType": 0, "PixelsAsFloat": false, "Compress": true },
	{ "CameraName": "4", "ImageType": 3, "PixelsAsFloat": false, "Compress": true }
]

},
"CameraDefaults": { 
"CaptureSettings": [
  {
    "ImageType": 0,
    "Width": 1280,
    "Height": 960,
    "FOV_Degrees": 90
   },
   {
    "ImageType": 3,
    "Width": 1280,
    "Height": 960,
    "FOV_Degrees": 90
   },
   {
    "ImageType": 5,
    "Width": 1280,
    "Height": 960,
    "FOV_Degrees": 90
   }
   
]
},

"SubWindows": [
				{"WindowID": 0, "ImageType": 0, "CameraName": "front_custom", "Visible": true},
				{"WindowID": 1, "ImageType": 3, "CameraName": "front_custom", "Visible": true},
				{"WindowID": 2, "ImageType": 5, "CameraName": "front_custom", "Visible": true}
			  ],
 "Vehicles": {
    "EgoCar": {
        "VehicleType": "PhysXCar",
        "AutoCreate": true,
		"Cameras": {
			"front_custom": {
			"CaptureSettings": [
			  {
				"ImageType": 0,
				"Widthidth": 1280,
				"Height": 960,
				"FOV_Degrees": 90
				
			  },
			  {
				"ImageType": 3,
				"Widthidth": 1280,
				"Height": 960,
				"FOV_Degrees": 90
				
			  },
			  {
				"ImageType": 5,
				"Width": 1280,
				"Height": 960,
				"FOV_Degrees": 90
				
			  }
			],
				
			
			"X": 0, "Y": 0, "Z": -1.9,
			"Pitch": 0, "Roll": 0, "Yaw": 45    
			}
		  },
		
		"Sensors": {
            "LidarSensor1": { 
                "SensorType": 6,
                "Enabled" : true,
                "NumberOfChannels": 16,
				"Range": 100,
                "RotationsPerSecond": 10,
                "PointsPerSecond": 100000,
                "X": 0, "Y": 0, "Z": -1.9,
                "Roll": 0, "Pitch": 0, "Yaw" : 0,
                "VerticalFOVUpper": 10,
                "VerticalFOVLower": -10,
                "HorizontalFOVStart": -360,
                "HorizontalFOVEnd": 360,
                "DrawDebugPoints": true,
                "DataFrame": "VehicleInertialFrame"
            }		
        }
    }
}

}

[catproof]

@orangeccc hello， I have some errors on get lidar data，can you show your setting flie？When I simulation it always happen that no vehicle named or no lidar on vehicle 。 I think maybe something wrong on setting files。 thankyou

@lcyawym you also have to specify which vehicle you are getting the lidar data from. for example, in python write: client.getLidarData(lidar_name = "LidarSensor1")