airsim-lidar使用

Enable lidar

需要在settings.json中设置，包括sensor type（6）和enabled（true）等等，例如：

{
"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings_json.md",
"SettingsVersion": 1.2,

"SimMode": "Multirotor",

 "Vehicles": {
	"Drone1": {
		"VehicleType": "simpleflight",
		"AutoCreate": true,
		"Sensors": {
		    "LidarSensor1": { 
				"SensorType": 6,
				"Enabled" : true,  //类似config
				"NumberOfChannels": 16, //16线激光
				"RotationsPerSecond": 10,
				"PointsPerSecond": 100000,
				"X": 0, "Y": 0, "Z": -1,
				"Roll": 0, "Pitch": 0, "Yaw" : 0,  //定义了位姿
				"VerticalFOVUpper": -15,
				"VerticalFOVLower": -25,
				"HorizontalFOVStart": -20,
				"HorizontalFOVEnd": 20, //定义了最下最上角度和最左最右角度
				"DrawDebugPoints": true, //是否在环境中可视
				"DataFrame": "SensorLocalFrame" //垂直惯性坐标系"VehicleInertialFrame" or 传感器坐标系"SensorLocalFrame"
			},
			"LidarSensor2": {  //可定义多个雷达
			   "SensorType": 6,
				"Enabled" : true,
				"NumberOfChannels": 4,
				"RotationsPerSecond": 10,
				"PointsPerSecond": 10000,
				"X": 0, "Y": 0, "Z": -1,
				"Roll": 0, "Pitch": 0, "Yaw" : 0, 
				"VerticalFOVUpper": -15,
				"VerticalFOVLower": -25,
				"DrawDebugPoints": true, 
				"DataFrame": "SensorLocalFrame"
			}
		}
	}
}
}

API

getLidarData()函数返回了点云数组、时间戳和雷达位姿，其中：
点云在雷达坐标系中（NED坐标系，以米为单位）
雷达位姿在车的坐标系中（NED坐标系，以米为单位）