False LiDAR Data

[CAS-LRJ]

The LiDAR receives false data in front of a tunnel when the ego vehicle was driving in the Italy map.
Level: Italy
Position: (1535.8941650390625, 793.4702758789062, 149.81668090820312)

In-Game LiDAR Visualization

Recevied LiDAR Visualization (Blender)

[dstark481]

What is plotted in the Blender plot? I am not sure what you are comparing here.

[CAS-LRJ]

What is plotted in the Blender plot? I am not sure what you are comparing here.

I use a python script to export the readings to a .obj file

readings_data = lidar.poll()
data1 = readings_data['pointCloud'].reshape(-1, 3)
# Remove Null Data like (0,0,0)
data1_ind = np.linalg.norm(data1, axis=1) > 0.
data1 = data1[data1_ind]

# Move the coordinates
data2 = np.array(lidar.get_position())
pc_obj = data1 - data2

with open('example.obj', 'w') as f:
    for point in pc_obj:
        f.write('v '+str(point[0])+' '+str(point[1])+' '+str(point[2])+'\n')

Then I visualize the obj file in Blender, and I found that there exist some abnormal points (in white circle).
These floating points shoud not be here since there is no obstacles in front of the lidar.

[dstark481]

Okay. We will take a look.