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LiDARSimLib

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LiDARSimLib

README.md

LiDAR Simulation Library

arXiv

LiDAR.simulation.and.placement.mp4

Requirements

  • Carla (>=0.9.12)

LiDAR List

  1. Surround LiDAR
    1. pandar64
    2. ruby128
    3. pandar128
    4. vlp16
    5. hdl64
    6. hdl32
    7. pandar_qt
    8. bpearl
    9. pandar_40m
    10. pandar_40p
    11. pandar_xt
    12. vlp32
    13. os1_64_gen2
    14. waymo_top
  2. Solid State LiDAR
    1. mems_m1
  3. Risley Prism LiDAR
    1. horizon
    2. mid40
    3. mid70
    4. avia
    5. tele
  4. Default Carla LiDAR
    1. default LiDARs

Usage

1. There are two paths should be modified:

LiDARSimLib/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/livox.cpp
line9: modify depend on your own carla path
LiDARSimLib/PythonAPI/lidar_lib_example/lidar_display.py
line30: modify depend on your own carla path

2. Use this file to overwrite the original carla directory

3. Rebuild carla

make clean
make PythonAPI
make launch

4. Create LiDAR

lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast') # choose ray_cast or ray_cast_semantic

lidar_bp.set_attribute("lidar_type", "Surround") # set lidar_type as Surround, Solid_state, Risley_prism

lidar_bp.set_attribute("name","pandar64") # set name as any one in LiDAR List

5. Set LiDAR ghosting object effect

lidar_bp.set_attribute("enable_ghost", "true") # enable ghosting object effect

6. Motion distortion simulation

  • Import the LidarMotonDistortion module
import sys
sys.path.append("/your/path/of/carla/LibCustomFunction") # append the LibCustomFunction
from enable_motion_distortion import LidarMotonDistortion
  • Init LidarMotonDistortion with file_path and distortion delay_time
lidar_motion_distort = LidarMotonDistortion("./horizon/", 10) # file_path is where the data you want to save. delay_time is the ratio of simulator frequency to lidar frequency.
  • Enable motion distortion
ego_lidar.listen(lambda data: lidar_motion_distort.enable_motion_distortion(data, True))

Results

LiDAR beam simulation

LiDAR_beam_simulation

Motion distortion simulation

Motion_distortion_simulation

Ghosting object effect simulation

Ghosting_object_effect_simulation