Lidar none when cam angle change

[Victoire7]

When I change cam angle rot_x to -90, I got None Lidar value from message as:

client.sendMessage(SetCameraPositionAndRotation(z = -20, rot_x = -90))

Is there any way to get Lidar data for downward camera view?

[Yux1angJi]

same😭

[David0tt]

This is strange, did you find a solution in the meantime?

Did you make sure to set exportLiDAR=True and maxLidarDist=120 in the Dataset? Or in general, did you check that the height is not too large for the maxLidarDist?

Otherwise for debugging steps: when you run the unmodified presentation_VisDrone_LiDAR.py, do you get LiDAR data?

In general, obtaining the LiDAR is a bit clunky and i can not guarantee that there are no errors or strange edge cases where it does not work, note the information in this note:
The LiDAR simulation currently uses the ingame raycasting and the depth map from the graphics. For the purposes of the ingame ray casting low poly objects are used (e.g. tree tops are only balls). The cast rays are then updated with the correct depth from the graphics depth map, if it is available. Of course this depth map is only available for the objects that are in the current frame. Therefore the LiDAR is not exact for objects outside of the current frame image.