Add ring and time data to every lidar point

[PeteBai]

Currently the simulated lidar sensor outputs x, y, z and intensity, but modern lidar sensors often include ring and time data for every detection point. How can we add such feature to carla/pythonAPI/ros-bridge?

[fawadshahid]

look here! https://github.com/carla-simulator/ros-bridge/issues/416

[fgoudreault]

In the LiDAR implementation, all rays are cast at the same time during a frame. Thus the timestamp could be the frame ID times the delta timeout between frames. I am not sure what the ring is but if it is the channel number (i.e.: the laser idx), then using the regular lidar it might be hard to get. Using the semantic lidar which returns all the points (i.e.: no points dropped due to noise), you can reshape the pts array (with shape npts x nfeatures) to (nchannels x npts_per_channel x nfeatures.

Hopes this helps!

[Robotics010]

look here! carla-simulator/ros-bridge#416

It looks like we are waiting for such a feature from carla developers (not from carla-ros-bridge side) but there are no news since Mar 1, 2021

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.