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PCSim: LiDAR Point Cloud Simulation and Sensor Placement! Code of [ICRA 2023] "Analyzing Infrastructure LiDAR Placement with Realistic LiDAR Simulation Library" and [ICCV 2023] "Optimizing the Placement of Roadside LiDARs for Autonomous Driving".

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PJLab-ADG/PCSim

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Overview

LiDAR Simulation Library

arXiv

LiDAR.simulation.and.placement.mp4
LiDAR Simulation Library Details### Requirements
  • Carla (>=0.9.12)

LiDAR List

  1. Surround LiDAR
    1. pandar64
    2. ruby128
    3. pandar128
    4. vlp16
    5. hdl64
    6. hdl32
    7. pandar_qt
    8. bpearl
    9. pandar_40m
    10. pandar_40p
    11. pandar_xt
    12. vlp32
    13. os1_64_gen2
    14. waymo_top
  2. Solid State LiDAR
    1. mems_m1
  3. Risley Prism LiDAR
    1. horizon
    2. mid40
    3. mid70
    4. avia
    5. tele
  4. Default Carla LiDAR
    1. default LiDARs

Usage

1. There are two paths should be modified:

LiDARSimLib/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/livox.cppline9: modify depend on your own carla pathLiDARSimLib/PythonAPI/lidar_lib_example/lidar_display.pyline30: modify depend on your own carla path

2. Use this file to overwrite the original carla directory

3. Rebuild carla

make cleanmake PythonAPImake launch

4. Create LiDAR

lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast') # choose ray_cast or ray_cast_semanticlidar_bp.set_attribute("lidar_type", "Surround") # set lidar_type as Surround, Solid_state, Risley_prismlidar_bp.set_attribute("name","pandar64") # set name as any one in LiDAR List

5. Set LiDAR ghosting object effect

lidar_bp.set_attribute("enable_ghost", "true") # enable ghosting object effect

6. Motion distortion simulation

  • Import the LidarMotonDistortion module
import syssys.path.append("/your/path/of/carla/LibCustomFunction") # append the LibCustomFunctionfrom enable_motion_distortion import LidarMotonDistortion
  • Init LidarMotonDistortion with file_path and distortion delay_time
lidar_motion_distort = LidarMotonDistortion("./horizon/", 10) # file_path is where the data you want to save. delay_time is the ratio of simulator frequency to lidar frequency.
  • Enable motion distortion
ego_lidar.listen(lambda data: lidar_motion_distort.enable_motion_distortion(data, True))

Results

LiDAR beam simulation

LiDAR_beam_simulation

Motion distortion simulation

Motion_distortion_simulation

Ghosting object effect simulation

Ghosting_object_effect_simulation

LiDAR Placement Evaluation in V2X Scenario

Implement DetailsWe build our evaluation code upon [v2x-vit](https://github.com/DerrickXuNu/v2x-vit) project.

Usage

  1. Follow the instruction in the readme page inv2x-vit and install the v2x-vit project.
  2. Download the pretrained model fromhere.
  3. Use the script in Placement-Evaluation/v2xvit/tools/inference.py for evaluation.

LiDARPlacementOptimizing

pdf

Code and usage will be release soon.

RainyPCSim

Simulate rain effect for LiDAR and collect synthetic LiDAR data in CARLA. We have released theRainyPCSim Dataset.

github_rainy_for_lidar.mp4
RainyPCSim Details

Requirements

  • Carla (>=0.9.12)

Usage

  1. FollowingLiDAR Simulation LibraryCopy and modify files from RainyPCSIM/carla/* to $CARLA_ROOT

    such asRayCastLidar.cpp, modify the fixed file path base on your own carla path.

  2. Rebuild carla

    make cleanmake PythonAPImake launch

  3. Launch CARLA, and open$CARLA_ROOT/Unreal/CarlaUE4/Content/Carla/Blueprints/Vehicles/BaseVehiclePawn.uasset in the blueprint editor.

  4. Add component ProxyParticleSpawn.uasset. ClickAdd Component botton, search and add ProxyParticleSpawn component. 

  5. Create waymo_top LiDAR

    lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast')lidar_bp.set_attribute("lidar_type", "Surround")lidar_bp.set_attribute("name","waymo_top")

Data collection

We build our synthetic dataset usingOpenCDA simulation tool.

Weather-based Intensity predictor

Please refer toIntensity_predictor.md to learn more usage about the predictor module.

 

The network structure information of weather-based Intensity predictor, where we leverage multi-channel data to predict the point-cloud intensity

ReSimAD

Please refer toReSimAD/README.md to learn more usage about the project.

Technical Papers

@inproceedings{cai2023analyzing,  title={Analyzing Infrastructure LiDAR Placement with Realistic LiDAR Simulation Library},  author={Cai, Xinyu and Jiang, Wentao and Xu, Runsheng and Zhao, Wenquan and Ma, Jiaqi and Liu, Si and Li, Yikang},  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},  pages={5581--5587},  year={2023},  organization={IEEE}}
@inproceedings{jiang2023optimizing,  title={Optimizing the Placement of Roadside LiDARs for Autonomous Driving},  author={Jiang, Wentao and Xiang, Hao and Cai, Xinyu and Xu, Runsheng and Ma, Jiaqi and Li, Yikang and Lee, Gim Hee and Liu, Si},  booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision},  pages={18381--18390},  year={2023}}
@article{yang2023rainy,  title={Realistic Rainy Weather Simulation for LiDARs in CARLA Simulator},  author={Donglin Yang, Zhenfeng Liu, Wentao Jiang, Guohang Yan, Xing Gao, Botian Shi, Si Liu, Xinyu Cai},  journal={under review},  year={2023}}
@article{zhang2023resimad,  title={ReSimAD: Zero-Shot 3D Domain Transfer for Autonomous Driving with Source Reconstruction and Target Simulation},  author={Zhang, Bo and Cai, Xinyu and Yuan, Jiakang and Yang, Donglin and Guo, Jianfei and Xia, Renqiu and Shi, Botian and Dou, Min and Chen, Tao and Liu, Si and others},  journal={arXiv preprint arXiv:2309.05527},  year={2023}}

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PCSim: LiDAR Point Cloud Simulation and Sensor Placement! Code of [ICRA 2023] "Analyzing Infrastructure LiDAR Placement with Realistic LiDAR Simulation Library" and [ICCV 2023] "Optimizing the Placement of Roadside LiDARs for Autonomous Driving".

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