LiDAR

AirGen contains support for Lidar sensors which capture 3D point clouds.

Configuration

The configuration for the Lidar sensor can be set up in the Sensors section of the configuration tab (accessible through the custom session panel). The following parameters are available:

Parameter	Description
NumberOfChannels	Number of lasers arranged vertically
X, Y, Z	Position of the lidar relative to the vehicle
Roll, Pitch, Yaw	Orientation of the lidar relative to the vehicle
VerticalFOVUpper	Topmost orientation in degrees
VerticalFOVLower	Bottommost orientation in degrees
HorizontalFOVStart	Leftmost orientation in degrees
HorizontalFOVEnd	Rightmost orientation in degrees

Accessing LiDAR data

Assuming a LiDAR has been set up for a vehicle, the point cloud data can be accessed as follows, and optionally visualized through Rerun.

client = airgen.MultirotorClient()

# Get LiDAR data
lidar_data = client.getLidarData()

# Extract point cloud
points = numpy.array(data.point_cloud, dtype=numpy.dtype('f4'))
points = numpy.reshape(points, (int(points.shape[0]/3), 3))

# Visualize point cloud
import rerun as rr
rr.log('lidar/points', rr.Points3D(points))

The structure of the output of client.getLidarData() can be seen at <airgen.types.LidarData>()