PCD Scanner Package (old)

Scanner Package

Note : The current separate package associated with this component is not updated, but it works well. Some parts of the description have been updated with new features. Therefore, use this documentation only if you are working with the old scanner package and not the latest complete package.

This package is developed based on the \"PointCloudMapping\" system of Awsim, which is used to create a point cloud of a city. Our package aims to capture and save the point cloud of the city separately, point by point, but in a more realistic environment. This package can be used alongside the traffic system of the city to simulate input data when different traffic conditions are applied to the city.

You may encounter an error when importing our package.

To resolve this, simply change the following line of code:

Same for second error

How to use

First, duplicate your base scene, which has a 3D map and can include the traffic system. In my case, I duplicated PointCloudMapping and renamed it to PointCloudScanner.

Now, go to Assets/ScannerPackage/Prefab and drag and drop the prefab into the scene.

Because we already have the RGL component in our prefab, we must remove the RGL Scene Manage component from the scene. In your case, if you are building your scene from scratch, you may not be required to do the same.

In the PointCloudScanner, there are two components: Point CloudMapper, which performs the normal scanning, and Lidar Pcd Extractor, which scans the environment frame by frame.

Configuring the Components:

This package supports multiple static and dynamic sensors. Dynamic sensors are the sensors carried by the car, while static sensors remain in the same place all the time during scanning.

For example, in the image below, you can see we have three dynamic lidars on our car. Since the position of sensors is relative to the parent, it is possible to choose the position of each sensor independently. The log system will save the position of each sensor in each frame. However, you must ensure that sensor names are unique, as the log file saves data by the name of the sensor, and unique names are necessary for identification in the log file.

Similarly, we have two static lidars. Our code only checks the children of the "Statics" component. In this section, you can duplicate or add different sensors as needed.

** As you can see in the lidar object, the lidar objects in this prefab must have an RGL scan adapter. We recommend using our sensors and duplicating them to create new sensors to avoid missing this component. However, if you want to create it from scratch, you can manually add this component at the end of your components in the lidar or each sensor that you use.

The traffic system does not need to be inside our object and only needs to run simultaneously.

For Developers: The logic of the code uses a box collider of the scanner car to detect whether it is inside a car or not. If it is outside the car, it will scan in that step. If not, it won't scan and will skip that step.

Lidar PCD Extractor(in Point cloud scanner object)

Check the Path of PCD and CSV: The path is relative to the Asset file.

Osm Container: This is the lanelet through which the scanner travels.

Wait Time: This is the amount of time the system waits for the traffic system or other systems to start working. After this period, the process of capturing will begin.

World Origin ROS: It is very important to configure this based on the real position of your map location. The default position of the package is set for Kashiwa, and you must edit this field according to your project.

Lanelet Visualizer is Active: Controls the visibility of the path lines that cars travel through.

Use CarPos: Hold off on using this feature as it does not work yet.