airsim-lidar使用

airsim-lidar使用

Enbale lidar

API

Enbale lidar
settings.jsonにセットする必要があります.sensor type(6)とenabled(true)などがあります.

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

"SimMode": "Multirotor",

 "Vehicles": {
	"Drone1": {
		"VehicleType": "simpleflight",
		"AutoCreate": true,
		"Sensors": {
		    "LidarSensor1": { 
				"SensorType": 6,
				"Enabled" : true,  //  config
				"NumberOfChannels": 16, //16   
				"RotationsPerSecond": 10,
				"PointsPerSecond": 100000,
				"X": 0, "Y": 0, "Z": -1,
				"Roll": 0, "Pitch": 0, "Yaw" : 0,  //     
				"VerticalFOVUpper": -15,
				"VerticalFOVLower": -25,
				"HorizontalFOVStart": -20,
				"HorizontalFOVEnd": 20, //                
				"DrawDebugPoints": true, //        
				"DataFrame": "SensorLocalFrame" //       "VehicleInertialFrame" or       "SensorLocalFrame"
			},
			"LidarSensor2": {  //       
			   "SensorType": 6,
				"Enabled" : true,
				"NumberOfChannels": 4,
				"RotationsPerSecond": 10,
				"PointsPerSecond": 10000,
				"X": 0, "Y": 0, "Z": -1,
				"Roll": 0, "Pitch": 0, "Yaw" : 0, 
				"VerticalFOVUpper": -15,
				"VerticalFOVLower": -25,
				"DrawDebugPoints": true, 
				"DataFrame": "SensorLocalFrame"
			}
		}
	}
}
}

API
get LidarData()関数は、レーダー座標系(NED座標系、メートル単位)のレーダー位置が車の座標系(NED座標系、メートル単位)にある点雲配列、タイムスタンプ、レーダービット姿を返した.