aitorzip/DeepGTAV

Is it possible to build a virtual LiDAR scanner attached to a vehicle?

gdpinchina opened this issue · 9 comments

gdpinchina commented

A 3D LiDAR can collect 3D point clouds of the environment. That should be very helpful in an auto driving simulation training. If this is possible, which APIs should I pay attention to? Or, any mods have made this come true?

dtmoodie commented

I believe this is possible. When I was poking around I found that you could do Ray tracing. With that you simulate lidar.

gdpinchina commented

Thank you! This help me a lot! I'm working on it.

Cuky88 commented

@gdpinchina Any progress here? I will try to develop such a mod, too. Maybe we can work together?

gdpinchina commented

I've already developed a prototype virtual LiDAR device. I didn't test it much and it may have some bugs. Now I am putting it to my repo

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dominikandreas commented

@gdpinchina can you tell us a bit about the performance / framerate impact?

gyubeomim commented

Thank you so much @gdpinchina
I was looking forward to using virtual LIDAR sensor in GTAV and you made it open source.

I'll try your code and maybe I'll get you some feedback, Thx! :-)

Cuky88 commented

@gdpinchina I didn't try it, yet, but it looks good. I'll convert it to C# and then test it. Thank you for publishing the mod.

gdpinchina commented

I have updated readme in my lidar repo for DeepGTAV. Sample rate is determined by the calling frequency of API GetPointClouds. For cheaper computation burden, I assume the vehicle is static in each horizontal sample instead of updating the position of lidar in each point sample. Also the same solution is applied to coordination transformation. @dominikandreas