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Raycast origin of lidar sensor #152

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Autumn60 opened this issue Feb 20, 2024 · 1 comment
Open

Raycast origin of lidar sensor #152

Autumn60 opened this issue Feb 20, 2024 · 1 comment
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enhancement New feature or request

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@Autumn60
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Autumn60 commented Feb 20, 2024

For some LiDAR sensors, the origin of the laser oscillation and the origin of the point cloud coordinates are different.
UnitySensors' ScanPatterns do not take into account the origin of the laser oscillation.

sensorOrigin2LaserOriginOffset(Vector3) parameter must be added to the ScanPattern.

image
Source: Livox user manual for Mid-70

image
Source: Velodyne Datasheet for "Alpha Prime"

@Autumn60 Autumn60 added the enhancement New feature or request label Feb 20, 2024
@RyodoTanaka
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@Autumn60
About Mid70, the sensorOrigin2LaserOriginOffset(Vector3) parameter looks not need.
Because, only adding the scan frame inside of the origin frame is needed.
But, about the Alpha prime sensor, the way I mentioned is not enough, and the sensorOrigin2LaserOriginOffset(Vector3) parameter is needed. Because the scan frame will dynamically moves.

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