Sensor SDK Lidar cannot scan terrain

Unity Engine
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1

Hello, I have downloaded the Sensor SDK package and followed the instruction to use the lidar sensor to scan the virtual enviroment.

I was expecting to SensorSDK tool to generate point cloud of the surrounding which inculdes the ‘terrain’. However, both the point cloud and intensityviewer showed only object can be captured by the lidar, excluding
the terrain enviroment which the lidar was in.

8409969--1111266--upload_2022-9-2_17-36-8.jpg
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8409969--1111272--upload_2022-9-2_17-36-35.png
8409969--1111272--upload_2022-9-2_17-36-35.png1652×1053 8.12 KB

Can someone tell me if there is something wrong with my Lidar setup? Or I should do some processing wiht the terrain that can make the lidar viewable (I have already tried the mesh terrain, but it reported error)?

2

There is nothing wrong with you lidar setup. Terrain isn’t supported yet in pathtracing. See limitations in HDRP d ocumentation here. If you use the camera based sensing component for the lidar, you should see the terrain.

You can check how the CameraBasedLidar prefab is built or follow these steps:

  • Put a Camera Sensing Component (Monobehavior) on the lidar photosensor(GameObject)
  • Drag and drop the photosensor(GameObject) on the Photosensor bindings on the SystemGraphComponent of your sensors here :
  • 8458583--1122743--upload_2022-9-22_13-10-53.png
3

Thank you very much for your help. If hte package itself doesn’t support it, then I think I knwo a way to overcome this problem.

Thank you for your help.