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Daniel Santos-Olivan 2020-07-30 15:52:32 +02:00 committed by bernat
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6
Docs/core_sensors.md
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@ -191,7 +191,11 @@ Different functionalities such as navigation, measurement of physical properties
<tr>
<td>LIDAR raycast</td>
<td><a href="../python_api#carlalidarmeasurement">carla.LidarMeasurement</a></td>
<td>A rotating LIDAR. Generates a 3D point cloud modelling the surroundings.</td>
<td>A rotating LIDAR. Generates a 3D point cloud and its asociated intensity modelling the surroundings p.</td>
<tr>
<td>RawLIDAR raycast</td>
<td><a href="../python_api#carlalidarrawmeasurement">carla.LidarRawMeasurement</a></td>
<td>A rotating LIDAR. Generates a 3D point cloud plus extra information about the raycast hitted object.</td>
<tr>
<td>Radar</td>
<td><a href="../python_api#carlaradarmeasurement">carla.RadarMeasurement</a></td>

2
Docs/ref_sensors.md
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@ -618,7 +618,7 @@ The rotation of the LIDAR can be tuned to cover a specific angle on every simula
* __Blueprint:__ sensor.lidar.ray_cast_raw
* __Output:__ [carla.LidarRawMeasurement](python_api.md#carla.LidarRawMeasurement) per step (unless `sensor_tick` says otherwise).
This sensor simulates a rotating Lidar implemented using ray-casting that exposes all the information about the hit. Its behaviour is quite similar to the [Lidar raycast sensor](python_api.md#lidar-raycast-sensor) but this sensor does not have any of the intensity, dropoff and noise featuers and its output is more complete.
This sensor simulates a rotating Lidar implemented using ray-casting that exposes all the information about the raycast hit. Its behaviour is quite similar to the [Lidar raycast sensor](#lidar-raycast-sensor) but this sensor does not have any of the intensity, dropoff or noise features and its output is more complete.
The points are computed by adding a laser for each channel distributed in the vertical FOV. The rotation is simulated computing the horizontal angle that the Lidar rotated in a frame. The point cloud is calculated by doing a ray-cast for each laser in every step:
`points_per_channel_each_step = points_per_second / (FPS * channels)`