core.sensor_simulation.lidar_simulation

Classes

VirtualLidar 

VirtualLidar()

Lidar模拟器

Attributes

extent_range instance-attribute 
extent_range = config.lidar_config.extent_range
horizontal_left instance-attribute 
horizontal_left = config.lidar_config.horizontal_left
horizontal_resolution instance-attribute 
horizontal_resolution = config.lidar_config.horizontal_resolution
horizontal_right instance-attribute 
horizontal_right = config.lidar_config.horizontal_right
lidar_position instance-attribute 
lidar_position = config.lidar_config.lidar_position
loss_rate instance-attribute 
loss_rate = config.lidar_config.loss_rate
noise_args instance-attribute 
noise_args = [self.noise_average, self.noise_variance, self.noise_severity, self.loss_rate]
noise_average instance-attribute 
noise_average = config.lidar_config.noise_average
noise_severity instance-attribute 
noise_severity = config.lidar_config.noise_severity
noise_variance instance-attribute 
noise_variance = config.lidar_config.noise_variance
number_of_points instance-attribute 
number_of_points = config.lidar_config.sampling_number_of_points
unit_distance instance-attribute 
unit_distance = 1
vertical_down instance-attribute 
vertical_down = config.lidar_config.vertical_down
vertical_resolution instance-attribute 
vertical_resolution = config.lidar_config.vertical_resolution
vertical_up instance-attribute 
vertical_up = config.lidar_config.vertical_up

Functions

cast_ray 
cast_ray(mesh_obj: o3d.geometry.TriangleMesh, rays: List[List[float]]) -> dict

光线投射

Parameters:
  • mesh_obj (TriangleMesh) –

    mesh格式的物体

  • rays (List[List[float]]) –

    光线
Returns:
  • dict –

    光线投射结果信息
create_pc 
create_pc(rays: List[List[float]], ray_cast_info: dict) -> List[List[float]]

生成点云

Parameters:
  • rays (List[List[float]]) –

    光线

  • ray_cast_info (dict) –

    光线投影结果信息
Returns:
  • List[List[float]] –

    物体点云中点的集合列表
create_ray 
create_ray(mesh_obj: o3d.geometry.TriangleMesh) -> List[List[float]]

创建投射物体的光线

Parameters:
  • mesh_obj (TriangleMesh) –

    o3d.geometry.TriangleMesh格式的物体
Returns:
  • List[List[float]] –

    投射该物体的光线
lidar_simulation_by_mesh_sampling 
lidar_simulation_by_mesh_sampling(mesh_obj: o3d.geometry.TriangleMesh) -> o3d.geometry.PointCloud

Mesh采样入口函数

Parameters:
  • mesh_obj (TriangleMesh) –

    mesh格式的物体
Returns:
  • PointCloud –

    模拟生成的物体点云
lidar_simulation_by_mesh_simulation 
lidar_simulation_by_mesh_simulation(mesh_obj: o3d.geometry.TriangleMesh) -> o3d.geometry.PointCloud

雷达模拟入口函数

Parameters:
  • mesh_obj (TriangleMesh) –

    mesh格式的物体
Returns:
  • PointCloud –

    模拟生成的物体点云
render_pc 
render_pc(pc_obj: List[List[float]]) -> numpy.ndarray

向标准点云中添加噪声，使得生成的点云真实

Parameters:
  • pc_obj (List[List[float]]) –

    初始点云中点的列表
Returns:
  • ndarray –

    模拟点云中点的集合的numpy格式